From 51f034694d73fb5578a8025e9bba4bfadd43e475 Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Mon, 10 Apr 2023 23:37:54 +0100
Subject: [PATCH 01/60] sync setting, activities
---
coderbot/cloud/__init__.py | 171 +++++++++++++++++++++++++++++++++++++
coderbot/config.py | 3 +
coderbot/main.py | 4 +
coderbot/program.py | 18 +++-
4 files changed, 192 insertions(+), 4 deletions(-)
create mode 100644 coderbot/cloud/__init__.py
diff --git a/coderbot/cloud/__init__.py b/coderbot/cloud/__init__.py
new file mode 100644
index 00000000..ec93640c
--- /dev/null
+++ b/coderbot/cloud/__init__.py
@@ -0,0 +1,171 @@
+# Sync CoderBot configuration with remote Cloud configuration
+#
+# For all configuration entities (settings, activities, programs):
+# check sync mode (upstream, downstream, both)
+# if up:
+# compare entity, if different, push changes
+# if down:
+# compare entity, if different, pull changes
+# if both:
+# compare entity, if different, take most recent and push/pull changes
+#
+
+import threading
+from datetime import datetime, timezone
+import logging
+import json
+from time import sleep
+
+from config import Config
+from activity import Activities
+from program import ProgramEngine
+
+import cloud_api_robot_client
+from cloud_api_robot_client.apis.tags import robot_sync_api
+from cloud_api_robot_client.model.activity import Activity
+from cloud_api_robot_client.model.program import Program
+from cloud_api_robot_client.model.robot_data import RobotData
+from cloud_api_robot_client.model.setting import Setting
+
+class CloudManager(threading.Thread):
+ _instance = None
+
+ @classmethod
+ def get_instance(cls):
+ if cls._instance is None:
+ cls._instance = CloudManager()
+ return cls._instance
+
+ def __init__(self):
+ threading.Thread.__init__(self)
+ # Defining the host is optional and defaults to https://api.coderbot.org/api/v1
+ # See configuration.py for a list of all supported configuration parameters.
+ self.configuration = cloud_api_robot_client.Configuration(
+ host = "http://192.168.1.8:8090/api/v1",
+ # Configure Bearer authorization: coderbot_auth
+ )
+ self.configuration.access_token = 'eyJ0eXAiOiJKV1QiLCJhbGciOiJSUzI1NiIsImtpZCI6IkNaMVFtVGM1WGZIV2NfQ1dPVG9kcm1QaXZFNFJ2ckFXaFZ3T28yTm85eDAifQ.eyJpc3MiOiJDb2RlckJvdCBDbG91ZCBBUEkiLCJpYXQiOjE2Nzc3MDI4NjIsImV4cCI6MTcwOTIzODg2MiwiYXVkIjoic3QtYXBpLmNvZGVyYm90Lm9yZyIsInN1YiI6InRwWkpYNFlsNElZd21QSzhEd2JmIiwiZW1haWwiOiJ0cFpKWDRZbDRJWXdtUEs4RHdiZkBib3RzLmNvZGVyYm90Lm9yZyIsInBpY3R1cmUiOiJodHRwczovL3N0LWFwcC5jb2RlcmJvdC5vcmcvcGljdHVyZXMvbm9waWMifQ.WlrYd-n6-WWHUxlz1kqnGl8TkjspVWn1UhKK_RIWyIJVlczD1GkqT4uqkHl2aGnp9I_E2SETUvC3dWkkUBG7qHvUIIZVaVhGpfiQy7WMekEdMnXtsPxK8NsWjHYUTbqz2dyz2Z1eQi5Ydhj4niEWsKCAT2BG-nwTIDxu-uxKrah6AtCGGyGKCQu0qje-qUNCxT5S1Y5RT10XS4Ewl2ROsMr1M6P3EVa0VoSJ26QZlh5jIz-8fhyGspxBHFEnZF-p95vEGCQp6M7epwoesDGVlX4AxEEpPk7c_Pd4c2gNLx1nhpkV26sT_c_NESNTM42tVyH9ZjQ5fxCUOEi_ELJ2vQ'
+
+ self.start()
+
+ def run(self):
+ while(True):
+ logging.info("run.begin")
+ settings = Config.read()
+ syncmodes = settings.get("syncmodes", {"settings": "n", "activities": "n", "programs": "n"})
+ # Enter a context with an instance of the API client
+ with cloud_api_robot_client.ApiClient(self.configuration) as api_client:
+ # Create an instance of the API class
+ api_instance = robot_sync_api.RobotSyncApi(api_client)
+
+ self.sync_settings(api_instance, syncmodes["settings"])
+
+ self.sync_activities(api_instance, syncmodes["activities"])
+
+ self.sync_programs(api_instance, syncmodes["programs"])
+
+ sleep(10)
+ logging.info("run.end")
+
+ def sync_settings(self, api_instance, syncmode):
+ try:
+ # Create an instance of the API class
+ api_response = api_instance.get_robot_setting()
+ cloud_setting_object = api_response.body
+ cloud_setting = json.loads(cloud_setting_object.get('data'))
+ local_setting = Config.read()
+ local_most_recent = datetime.fromisoformat(cloud_setting_object["modified"]).timestamp() < Config.modified()
+ if cloud_setting != local_setting:
+ if syncmode == "u" or (syncmode == "b" and local_most_recen):
+ body = Setting(
+ id=api_response.body.get('id'),
+ org_id=api_response.body.get('org_id'),
+ name=api_response.body.get('name'),
+ description=api_response.body.get('description'),
+ data=json.dumps(setting),
+ modified=datetime.now().isoformat(),
+ status=api_response.body.get('status'),
+ )
+ api_response = api_instance.set_robot_setting(body)
+ logging.info("run.4")
+ if syncmode == 'd': # setting, down
+ logging.info("cloud_setting: ", str(cloud_setting.data.setting))
+ Config.write(cloud_setting.data.setting)
+ except cloud_api_robot_client.ApiException as e:
+ logging.warn("Exception when calling RobotSyncApi: %s\n" % e)
+
+ def sync_activities(self, api_instance, syncmode):
+ activities = Activities.get_instance().list()
+ try:
+ # Get robot activities
+ api_response = api_instance.get_robot_activities()
+ cloud_activities = api_response.body
+ logging.info("run.activities.cloud" + str(cloud_activities))
+ # cloud activities
+ a_c_m = {} # activities_cloud_map
+ for a in cloud_activities:
+ a_c_m[a.get("id")] = a
+
+ a_l_m = {} # activities_local_map
+ # local activities no id
+ for a in activities:
+ if a.get("id") is not None:
+ a_l_m[a.get("id")] = a
+
+ # loop through local
+ for al in activities:
+ logging.info("syncing: " + str(al.get("id")))
+ ac = a_c_m.get(al.get("id"))
+ if ac is not None:
+ al["modified"] = al.get("modified", datetime.now(tz=timezone.utc).isoformat())
+ local_activity_more_recent = datetime.fromisoformat(ac.get("modified")).timestamp() < datetime.fromisoformat(al.get("modified")).timestamp()
+ if syncmode == "u" or (local_activity_more_recent and syncmode == 'b'):
+ ac["data"] = al.get("data")
+ ac["modified"] = al.get("modified")
+ body = Activity(
+ id=ac.get("id"),
+ org_id=ac.get("org_id"),
+ name=al.get("name"),
+ description=al.get("description"),
+ data=json.dumps(al.get("data")),
+ modified=al.get("modified").isoformat(),
+ status='active',
+ )
+ #logging.info("run.activities.cloud.saving")
+ api_response = api_instance.set_robot_activity(ac.get("id"), body)
+ #logging.info("run.activities.cloud.saved")
+ elif syncmode == "d" or (not local_activity_more_recent and syncmode == 'b'):
+ al["data"] = ac.get("data")
+ al["modified"] = ac.get("modified")
+ Activities.get_instance().save(al.get("name"), al)
+ logging.info("run.activities.local.saved: " + ac.get("name"))
+ elif ac is None and syncmode in ['u', 'b']:
+ #logging.info("activity:" + str(al))
+ body = Activity(
+ id="",
+ org_id="",
+ name=al.get("name"),
+ description=al.get("description"),
+ data=json.dumps(al),
+ modified=al.get("modified", datetime.now(tz=timezone.utc).isoformat()),
+ status="active",
+ )
+ api_response = api_instance.create_robot_activity(body=body)
+ logging.info("run.activities.cloud.created: " + str(api_response.body["id"]))
+ al["id"] = api_response.body["id"]
+ al["org_id"] = api_response.body["org_id"]
+ logging.info("run.activities.saving_local: " + al.get("name"))
+ Activities.get_instance().save(al.get("name"), al)
+ elif ac is None and syncmode in ['d']:
+ logging.info("run.activities.deleting_local: " + al.get("name"))
+ Activities.get_instance().delete(al.get("name"))
+ for ac, k in a_c_m.items():
+ if a_l_m.get(k) is None and syncmode in ['d', 'b']:
+ Activities.get_instance().save(ac.get("name"), ac)
+ logging.info("run.activities.local.saved: " + ac.get("name"))
+
+ except cloud_api_robot_client.ApiException as e:
+ logging.warn("Exception when calling RobotSyncApi: %s\n" % e)
+
+ def sync_programs(self, api_client, syncmode):
+ pass
diff --git a/coderbot/config.py b/coderbot/config.py
index 071dd7da..a2098973 100644
--- a/coderbot/config.py
+++ b/coderbot/config.py
@@ -52,3 +52,6 @@ def restore(cls):
with open(CONFIG_DEFAULT_FILE) as f:
cls.write(json.loads(f.read()))
+ @classmethod
+ def modified(cls):
+ return os.stat(CONFIG_FILE).st_mtime
\ No newline at end of file
diff --git a/coderbot/main.py b/coderbot/main.py
index edcb53d6..61bb1b24 100644
--- a/coderbot/main.py
+++ b/coderbot/main.py
@@ -18,6 +18,7 @@
from cnn.cnn_manager import CNNManager
from event import EventManager
from coderbot import CoderBot
+from cloud import CloudManager
# Logging configuration
logger = logging.getLogger()
@@ -89,6 +90,9 @@ def run_server():
if app.bot_config.get('load_at_start') and app.bot_config.get('load_at_start'):
prog = app.prog_engine.load(app.bot_config.get('load_at_start'))
prog.execute()
+
+ CloudManager.get_instance()
+
except ValueError as e:
app.bot_config = {}
logging.error(e)
diff --git a/coderbot/program.py b/coderbot/program.py
index d76395fd..6e41afee 100644
--- a/coderbot/program.py
+++ b/coderbot/program.py
@@ -22,8 +22,9 @@
import json
import shutil
import logging
-
+from datetime import datetime
import math
+
from tinydb import TinyDB, Query
from threading import Lock
@@ -159,12 +160,14 @@ class Program:
def dom_code(self):
return self._dom_code
- def __init__(self, name, code=None, dom_code=None, default=False):
+ def __init__(self, name, code=None, dom_code=None, default=False, id=None, modified=None):
self._thread = None
self.name = name
self._dom_code = dom_code
self._code = code
self._default = default
+ self._id = id
+ self._modified = modified
def execute(self, options={}):
if self._running:
@@ -242,8 +245,15 @@ def as_dict(self):
return {'name': self.name,
'dom_code': self._dom_code,
'code': self._code,
- 'default': self._default}
+ 'default': self._default,
+ 'id': self._id,
+ 'modified': self._modified.isoformat()}
@classmethod
def from_dict(cls, amap):
- return Program(name=amap['name'], dom_code=amap['dom_code'], code=amap['code'], default=amap.get('default', False))
+ return Program(name=amap['name'],
+ dom_code=amap['dom_code'],
+ code=amap['code'],
+ default=amap.get('default', False),
+ id=amap.get('id', None),
+ modified=datetime.fromisoformat(amap.get('modified', datetime.now().isoformat())))
From c857b1a7299c35de6bcc044798affb63fb6f4efe Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Tue, 18 Apr 2023 23:38:23 +0100
Subject: [PATCH 02/60] wip
---
coderbot/api.py | 7 +-
coderbot/cloud/__init__.py | 182 ++++++++++++++----
coderbot/program.py | 56 ++++--
defaults/programs/program_demo_ar_tags.json | 2 +-
.../programs/program_demo_cat_follower.json | 2 +-
.../programs/program_demo_color_seeker.json | 2 +-
defaults/programs/program_demo_io_ext.json | 2 +-
.../programs/program_demo_line_follower.json | 2 +-
.../programs/program_demo_roboetologist.json | 2 +-
.../program_demo_sound_clap_control.json | 2 +-
defaults/programs/program_test_find_code.json | 2 +-
.../programs/program_test_find_color.json | 2 +-
defaults/programs/program_test_find_face.json | 2 +-
.../program_test_find_path_ahead.json | 2 +-
.../programs/program_test_img_average.json | 2 +-
.../programs/program_test_sound_hear.json | 2 +-
defaults/programs/program_test_sound_rec.json | 2 +-
17 files changed, 200 insertions(+), 73 deletions(-)
diff --git a/coderbot/api.py b/coderbot/api.py
index 88052aff..a5fe50f5 100644
--- a/coderbot/api.py
+++ b/coderbot/api.py
@@ -7,6 +7,7 @@
import os
import subprocess
import urllib
+from datetime import datetime
import connexion
import picamera
@@ -295,7 +296,7 @@ def saveProgram(name, body):
return "askOverwrite"
elif existing_program is not None and existing_program.is_default() == True:
return "defaultCannotOverwrite", 400
- program = Program(name=body.get("name"), code=body.get("code"), dom_code=body.get("dom_code"))
+ program = Program(name=body.get("name"), code=body.get("code"), dom_code=body.get("dom_code"), modified=datetime.now(), status="active")
prog_engine.save(program)
return 200
@@ -307,10 +308,10 @@ def loadProgram(name):
return 404
def deleteProgram(name):
- prog_engine.delete(name)
+ prog_engine.delete(name, logical=True)
def listPrograms():
- return prog_engine.prog_list()
+ return prog_engine.prog_list(active_only=True)
def runProgram(name, body):
"""
diff --git a/coderbot/cloud/__init__.py b/coderbot/cloud/__init__.py
index ec93640c..7f583fcf 100644
--- a/coderbot/cloud/__init__.py
+++ b/coderbot/cloud/__init__.py
@@ -19,6 +19,7 @@
from config import Config
from activity import Activities
from program import ProgramEngine
+import program
import cloud_api_robot_client
from cloud_api_robot_client.apis.tags import robot_sync_api
@@ -27,6 +28,10 @@
from cloud_api_robot_client.model.robot_data import RobotData
from cloud_api_robot_client.model.setting import Setting
+SYNC_UPSTREAM = 'u'
+SYNC_DOWNSTREAM = 'd'
+SYNC_BIDIRECTIONAL = 'b'
+
class CloudManager(threading.Thread):
_instance = None
@@ -41,31 +46,30 @@ def __init__(self):
# Defining the host is optional and defaults to https://api.coderbot.org/api/v1
# See configuration.py for a list of all supported configuration parameters.
self.configuration = cloud_api_robot_client.Configuration(
- host = "http://192.168.1.8:8090/api/v1",
- # Configure Bearer authorization: coderbot_auth
+ host = "http://192.168.1.7:8090/api/v1",
)
+ # Configure Bearer authorization: coderbot_auth
self.configuration.access_token = 'eyJ0eXAiOiJKV1QiLCJhbGciOiJSUzI1NiIsImtpZCI6IkNaMVFtVGM1WGZIV2NfQ1dPVG9kcm1QaXZFNFJ2ckFXaFZ3T28yTm85eDAifQ.eyJpc3MiOiJDb2RlckJvdCBDbG91ZCBBUEkiLCJpYXQiOjE2Nzc3MDI4NjIsImV4cCI6MTcwOTIzODg2MiwiYXVkIjoic3QtYXBpLmNvZGVyYm90Lm9yZyIsInN1YiI6InRwWkpYNFlsNElZd21QSzhEd2JmIiwiZW1haWwiOiJ0cFpKWDRZbDRJWXdtUEs4RHdiZkBib3RzLmNvZGVyYm90Lm9yZyIsInBpY3R1cmUiOiJodHRwczovL3N0LWFwcC5jb2RlcmJvdC5vcmcvcGljdHVyZXMvbm9waWMifQ.WlrYd-n6-WWHUxlz1kqnGl8TkjspVWn1UhKK_RIWyIJVlczD1GkqT4uqkHl2aGnp9I_E2SETUvC3dWkkUBG7qHvUIIZVaVhGpfiQy7WMekEdMnXtsPxK8NsWjHYUTbqz2dyz2Z1eQi5Ydhj4niEWsKCAT2BG-nwTIDxu-uxKrah6AtCGGyGKCQu0qje-qUNCxT5S1Y5RT10XS4Ewl2ROsMr1M6P3EVa0VoSJ26QZlh5jIz-8fhyGspxBHFEnZF-p95vEGCQp6M7epwoesDGVlX4AxEEpPk7c_Pd4c2gNLx1nhpkV26sT_c_NESNTM42tVyH9ZjQ5fxCUOEi_ELJ2vQ'
-
self.start()
def run(self):
while(True):
- logging.info("run.begin")
+ logging.info("run.sync.begin")
settings = Config.read()
syncmodes = settings.get("syncmodes", {"settings": "n", "activities": "n", "programs": "n"})
+ sync_period = settings.get("sync_period", 10)
+
# Enter a context with an instance of the API client
with cloud_api_robot_client.ApiClient(self.configuration) as api_client:
# Create an instance of the API class
api_instance = robot_sync_api.RobotSyncApi(api_client)
self.sync_settings(api_instance, syncmodes["settings"])
-
self.sync_activities(api_instance, syncmodes["activities"])
-
self.sync_programs(api_instance, syncmodes["programs"])
- sleep(10)
- logging.info("run.end")
+ sleep(sync_period)
+ logging.info("run.sync.end")
def sync_settings(self, api_instance, syncmode):
try:
@@ -75,24 +79,25 @@ def sync_settings(self, api_instance, syncmode):
cloud_setting = json.loads(cloud_setting_object.get('data'))
local_setting = Config.read()
local_most_recent = datetime.fromisoformat(cloud_setting_object["modified"]).timestamp() < Config.modified()
+ logging.info("settings.syncing: " + cloud_setting_object.get("id") + " name: " + cloud_setting_object.get("id"))
if cloud_setting != local_setting:
- if syncmode == "u" or (syncmode == "b" and local_most_recen):
+ if syncmode == SYNC_UPSTREAM or (syncmode == SYNC_BIDIRECTIONAL and local_most_recent):
body = Setting(
- id=api_response.body.get('id'),
- org_id=api_response.body.get('org_id'),
- name=api_response.body.get('name'),
- description=api_response.body.get('description'),
- data=json.dumps(setting),
- modified=datetime.now().isoformat(),
- status=api_response.body.get('status'),
+ id = cloud_setting_object.get('id'),
+ org_id = cloud_setting_object.get('org_id'),
+ name = cloud_setting_object.get('name'),
+ description = cloud_setting_object.get('description'),
+ data = json.dumps(local_setting),
+ modified = datetime.now().isoformat(),
+ status = cloud_setting_object.get('status'),
)
api_response = api_instance.set_robot_setting(body)
- logging.info("run.4")
- if syncmode == 'd': # setting, down
- logging.info("cloud_setting: ", str(cloud_setting.data.setting))
+ logging.info("settings.upstream")
+ if syncmode == SYNC_DOWNSTREAM: # setting, down
Config.write(cloud_setting.data.setting)
+ logging.info("settings.downstream")
except cloud_api_robot_client.ApiException as e:
- logging.warn("Exception when calling RobotSyncApi: %s\n" % e)
+ logging.warn("Exception when calling settings RobotSyncApi: %s\n" % e)
def sync_activities(self, api_instance, syncmode):
activities = Activities.get_instance().list()
@@ -100,7 +105,6 @@ def sync_activities(self, api_instance, syncmode):
# Get robot activities
api_response = api_instance.get_robot_activities()
cloud_activities = api_response.body
- logging.info("run.activities.cloud" + str(cloud_activities))
# cloud activities
a_c_m = {} # activities_cloud_map
for a in cloud_activities:
@@ -114,12 +118,12 @@ def sync_activities(self, api_instance, syncmode):
# loop through local
for al in activities:
- logging.info("syncing: " + str(al.get("id")))
+ logging.info("activities.syncing: " + str(al.get("id")) + " name: " + str(al.get("name")))
ac = a_c_m.get(al.get("id"))
- if ac is not None:
+ if ac is not None and ac.get("data") != al.get("data"):
al["modified"] = al.get("modified", datetime.now(tz=timezone.utc).isoformat())
local_activity_more_recent = datetime.fromisoformat(ac.get("modified")).timestamp() < datetime.fromisoformat(al.get("modified")).timestamp()
- if syncmode == "u" or (local_activity_more_recent and syncmode == 'b'):
+ if syncmode == SYNC_UPSTREAM or (local_activity_more_recent and syncmode == SYNC_BIDIRECTIONAL):
ac["data"] = al.get("data")
ac["modified"] = al.get("modified")
body = Activity(
@@ -133,14 +137,13 @@ def sync_activities(self, api_instance, syncmode):
)
#logging.info("run.activities.cloud.saving")
api_response = api_instance.set_robot_activity(ac.get("id"), body)
- #logging.info("run.activities.cloud.saved")
- elif syncmode == "d" or (not local_activity_more_recent and syncmode == 'b'):
+ logging.info("activities.update.upstream: " + al.get("name"))
+ elif syncmode == "d" or (not local_activity_more_recent and syncmode == SYNC_BIDIRECTIONAL):
al["data"] = ac.get("data")
al["modified"] = ac.get("modified")
Activities.get_instance().save(al.get("name"), al)
- logging.info("run.activities.local.saved: " + ac.get("name"))
- elif ac is None and syncmode in ['u', 'b']:
- #logging.info("activity:" + str(al))
+ logging.info("activities.update.downstream: " + al.get("name"))
+ elif ac is None and syncmode in [SYNC_UPSTREAM, SYNC_BIDIRECTIONAL]:
body = Activity(
id="",
org_id="",
@@ -151,21 +154,122 @@ def sync_activities(self, api_instance, syncmode):
status="active",
)
api_response = api_instance.create_robot_activity(body=body)
- logging.info("run.activities.cloud.created: " + str(api_response.body["id"]))
al["id"] = api_response.body["id"]
al["org_id"] = api_response.body["org_id"]
- logging.info("run.activities.saving_local: " + al.get("name"))
Activities.get_instance().save(al.get("name"), al)
- elif ac is None and syncmode in ['d']:
- logging.info("run.activities.deleting_local: " + al.get("name"))
+ logging.info("activities.create.upstream: " + al.get("name"))
+ elif ac is None and syncmode in [SYNC_DOWNSTREAM]:
Activities.get_instance().delete(al.get("name"))
- for ac, k in a_c_m.items():
- if a_l_m.get(k) is None and syncmode in ['d', 'b']:
+ logging.info("activities.delete.downstream: " + al.get("name"))
+ for k, ac in a_c_m.items():
+ if a_l_m.get(k) is None and syncmode in [SYNC_DOWNSTREAM, SYNC_BIDIRECTIONAL]:
Activities.get_instance().save(ac.get("name"), ac)
- logging.info("run.activities.local.saved: " + ac.get("name"))
+ logging.info("activities.create.downstream: " + ac.get("name"))
except cloud_api_robot_client.ApiException as e:
- logging.warn("Exception when calling RobotSyncApi: %s\n" % e)
+ logging.warn("Exception when calling activities RobotSyncApi: %s\n" % e)
+
+ def sync_programs(self, api_instance, syncmode):
+ programs = list()
+ programs_to_be_deleted = list()
+ for p in ProgramEngine.get_instance().prog_list(active_only=False):
+ if not p.get("default"):
+ if p.get("status") == program.PROGRAM_STATUS_ACTIVE:
+ programs.append(p)
+ elif p.get("status") == program.PROGRAM_STATUS_DELETED:
+ programs_to_be_deleted.append(p)
+
+ try:
+ # Get robot activities
+ api_response = api_instance.get_robot_programs()
+ cloud_programs = api_response.body
+ # cloud activities
+ p_c_m = {} # activities_cloud_map
+ for p in cloud_programs:
+ if p.get("status") == program.PROGRAM_STATUS_ACTIVE:
+ p_c_m[p.get("id")] = p
+
+ p_l_m = {} # activities_local_map
+ # local activities no id
+ for p in programs:
+ #logging.info("programs.local: " + str(p.get("id")) + " name: " + p.get("name"))
+ if p.get("id") is not None:
+ p_l_m[p.get("id")] = p
- def sync_programs(self, api_client, syncmode):
- pass
+ # manage programs present locally and in "active" status
+ for pl in programs:
+ pc = p_c_m.get(pl.get("id"))
+ pc_pl_equals = (pc is not None and
+ pc.get("name") == pl.get("name") and
+ pc.get("code") == pl.get("code") and
+ pc.get("dom_code") == pl.get("dom_code") and
+ pc.get("status") == pl.get("status"))
+ logging.info("programs.syncing: " + str(pl.get("id")) + " name: " + pl.get("name"))
+
+ if pc is not None and not pc_pl_equals:
+ pl["modified"] = pl.get("modified", datetime.now(tz=timezone.utc).isoformat())
+ local_program_more_recent = datetime.fromisoformat(pc.get("modified")).timestamp() < datetime.fromisoformat(pl.get("modified")).timestamp()
+ if syncmode == SYNC_UPSTREAM or (local_program_more_recent and syncmode == SYNC_BIDIRECTIONAL) and not to_be_deleted:
+ pc["data"] = pl.get("data")
+ pc["modified"] = pl.get("modified")
+ body = Program(
+ id=pc.get("id"),
+ org_id=pc.get("org_id"),
+ name=pl.get("name"),
+ description=pl.get("description"),
+ code=pl.get("code"),
+ dom_code=pl.get("dom_code"),
+ modified=pl.get("modified").isoformat(),
+ status='active',
+ )
+ #logging.info("run.activities.cloud.saving")
+ api_response = api_instance.set_robot_program(pc.get("id"), body)
+ logging.info("programs.update.upstream: " + pl.get("name"))
+ elif syncmode == "d" or (not local_program_more_recent and syncmode == SYNC_BIDIRECTIONAL):
+ pl["data"] = pc.get("data")
+ pl["modified"] = pc.get("modified")
+ ProgramEngine.get_instance().save(program.Program.from_dict(pl))
+ logging.info("programs.update.downstream: " + pl.get("name"))
+ elif pc is None and syncmode in [SYNC_UPSTREAM, SYNC_BIDIRECTIONAL]:
+ body = Program(
+ id="",
+ org_id="",
+ name=pl.get("name"),
+ description=pl.get("description", ""),
+ code=pl.get("code"),
+ dom_code=pl.get("dom_code"),
+ modified=pl.get("modified", datetime.now(tz=timezone.utc).isoformat()),
+ status="active",
+ )
+ api_response = api_instance.create_robot_program(body=body)
+ pl["id"] = api_response.body["id"]
+ pl["org_id"] = api_response.body["org_id"]
+ ProgramEngine.get_instance().save(program.Program.from_dict(pl))
+ logging.info("programs.create.upstream: " + pl.get("name"))
+ elif pc is None and syncmode in [SYNC_DOWNSTREAM]:
+ ProgramEngine.get_instance().delete(pl.get("name"))
+ logging.info("programs.delete.downstream: " + pl.get("name"))
+
+ # manage programs not present locally in "active" status
+ for k, pc in p_c_m.items():
+ if p_l_m.get(k) is None and syncmode in [SYNC_DOWNSTREAM, SYNC_BIDIRECTIONAL]:
+ pl = program.Program(name=pc.get("name"),
+ code=pc.get("code"),
+ dom_code=pc.get("dom_code"),
+ default=False,
+ id=pc.get("id"),
+ modified=datetime.fromisoformat(pc.get("modified")),
+ status=pc.get("status"))
+ ProgramEngine.get_instance().save(pl)
+ logging.info("programs.create.downstream: " + pc.get("name"))
+
+ # manage programs to be deleted locally and upstream
+ for pl in programs_to_be_deleted:
+ if p.get("id") is not None:
+ logging.info("programs.delete.upstream: " + pl.get("name"))
+ api_response = api_instance.delete_robot_program(path_params={"program_id":pl.get("id")})
+ # delete locally permanently
+ ProgramEngine.get_instance().delete(pl.get("name"), logical=False)
+
+ except cloud_api_robot_client.ApiException as e:
+ logging.warn("Exception when calling programs RobotSyncApi: %s\n" % e)
\ No newline at end of file
diff --git a/coderbot/program.py b/coderbot/program.py
index 6e41afee..ce787bbf 100644
--- a/coderbot/program.py
+++ b/coderbot/program.py
@@ -43,6 +43,8 @@
PROGRAM_SUFFIX = ".json"
PROGRAMS_DB = "data/programs.json"
PROGRAMS_PATH_DEFAULTS = "defaults/programs/"
+PROGRAM_STATUS_ACTIVE = "active"
+PROGRAM_STATUS_DELETED = "deleted"
musicPackageManager = musicPackages.MusicPackageManager.get_instance()
@@ -80,20 +82,22 @@ def __init__(self):
self._program = None
self._log = ""
self._programs = TinyDB(PROGRAMS_DB)
+
# initialise DB from default programs
query = Query()
self.lock = Lock()
for dirname, dirnames, filenames, in os.walk(PROGRAMS_PATH_DEFAULTS):
- dirnames
for filename in filenames:
if PROGRAM_PREFIX in filename:
program_name = filename[len(PROGRAM_PREFIX):-len(PROGRAM_SUFFIX)]
- logging.info("adding program %s in path %s as default %r", program_name, dirname, ("default" in dirname))
- with open(os.path.join(dirname, filename), "r") as f:
- program_dict = json.load(f)
- program_dict["default"] = "default" in dirname
- program = Program.from_dict(program_dict)
- self.save(program)
+ if self.load(program_name) is None:
+ logging.info("adding program %s in path %s as default %r", program_name, dirname, ("default" in dirname))
+ with open(os.path.join(dirname, filename), "r") as f:
+ program_dict = json.load(f)
+ program_dict["default"] = "default" in dirname
+ program_dict["status"] = PROGRAM_STATUS_ACTIVE
+ program = Program.from_dict(program_dict)
+ self.save(program)
@classmethod
def get_instance(cls):
@@ -101,12 +105,19 @@ def get_instance(cls):
cls._instance = ProgramEngine()
return cls._instance
- def prog_list(self):
- return self._programs.all()
+ def prog_list(self, active_only = True):
+ programs = None
+ query = Query()
+ if active_only:
+ programs = self._programs.search(query.status == PROGRAM_STATUS_ACTIVE)
+ else:
+ programs = self._programs.all()
+ return programs
def save(self, program):
with self.lock:
query = Query()
+ program._modified = datetime.now()
self._program = program
program_db_entry = self._program.as_dict()
if self._programs.search(query.name == program.name) != []:
@@ -120,19 +131,27 @@ def load(self, name):
program_db_entries = self._programs.search(query.name == name)
if len(program_db_entries) > 0:
prog_db_entry = program_db_entries[0]
- logging.debug(prog_db_entry)
+ #logging.debug(prog_db_entry)
self._program = Program.from_dict(prog_db_entry)
return self._program
return None
- def delete(self, name):
+ def delete(self, name, logical = True):
with self.lock:
query = Query()
- program_db_entries = self._programs.search(query.name == name)
- self._programs.remove(query.name == name)
+ program_db_entries = self._programs.search((query.name == name) & (query.default == False) & (query.status == PROGRAM_STATUS_ACTIVE))
+ if len(program_db_entries) > 0:
+ program_db_entry = program_db_entries[0]
+ if logical:
+ program_db_entry["status"] = PROGRAM_STATUS_DELETED
+ program_db_entry["modified"] = datetime.now().isoformat()
+ self._programs.update(program_db_entry, query.name == name)
+ else:
+ self._programs.remove(query.name == name)
+ return None
def create(self, name, code):
- self._program = Program(name, code)
+ self._program = Program(name, code, modified=datetime.now())
return self._program
def is_running(self, name):
@@ -160,7 +179,7 @@ class Program:
def dom_code(self):
return self._dom_code
- def __init__(self, name, code=None, dom_code=None, default=False, id=None, modified=None):
+ def __init__(self, name, code=None, dom_code=None, default=False, id=None, modified=None, status=None):
self._thread = None
self.name = name
self._dom_code = dom_code
@@ -168,6 +187,7 @@ def __init__(self, name, code=None, dom_code=None, default=False, id=None, modif
self._default = default
self._id = id
self._modified = modified
+ self._status = status
def execute(self, options={}):
if self._running:
@@ -247,7 +267,8 @@ def as_dict(self):
'code': self._code,
'default': self._default,
'id': self._id,
- 'modified': self._modified.isoformat()}
+ 'modified': self._modified.isoformat(),
+ 'status': self._status}
@classmethod
def from_dict(cls, amap):
@@ -256,4 +277,5 @@ def from_dict(cls, amap):
code=amap['code'],
default=amap.get('default', False),
id=amap.get('id', None),
- modified=datetime.fromisoformat(amap.get('modified', datetime.now().isoformat())))
+ modified=datetime.fromisoformat(amap.get('modified', datetime.now().isoformat())),
+ status=amap.get('status', None),)
diff --git a/defaults/programs/program_demo_ar_tags.json b/defaults/programs/program_demo_ar_tags.json
index 329f45d9..86699bac 100644
--- a/defaults/programs/program_demo_ar_tags.json
+++ b/defaults/programs/program_demo_ar_tags.json
@@ -1 +1 @@
-{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><variables><variable type=\"\" id=\"t0%]}C@b{,qd7|sPe9zc\">tag_map</variable><variable type=\"\" id=\"6J?]Su~9cMcJ?1k)5D+=\">code</variable><variable type=\"\" id=\"w5)*3TcHccLvv^WOkh`c\">lista</variable><variable type=\"\" id=\"1J4H~VmQG*H$]$Q_:B__\">codes</variable><variable type=\"\" id=\"NC[lQ:--CtUITd)_|c$p\">positions</variable></variables><block type=\"controls_whileUntil\" id=\"@h-]#0?:MKRG}h:8:^x9\" x=\"-30\" y=\"144\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"#`fvr:O?_:Ttu0Bf{!]|\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\" id=\"=^-j5Ga1MVnuBee97Y@C\"><field name=\"VAR\" id=\"t0%]}C@b{,qd7|sPe9zc\" variabletype=\"\">tag_map</field><value name=\"VALUE\"><block type=\"coderbot_adv_findARCode\" id=\"s#f+e.r41WtcACO*8E@R\"></block></value><next><block type=\"variables_set\" id=\"#WGMDf[e(XBFiFV~%T{/\"><field name=\"VAR\" id=\"1J4H~VmQG*H$]$Q_:B__\" variabletype=\"\">codes</field><value name=\"VALUE\"><block type=\"hashmap_get_value\" id=\"8n882RO_@|$b|*I#O`vD\"><value name=\"key\"><block type=\"text\" id=\"o)iJvT6q3wE1n$|w?}@W\"><field name=\"TEXT\">codes</field></block></value><value name=\"map\"><block type=\"variables_get\" id=\"jCx{KU9(=6P@.|peNlXN\"><field name=\"VAR\" id=\"t0%]}C@b{,qd7|sPe9zc\" variabletype=\"\">tag_map</field></block></value></block></value><next><block type=\"variables_set\" id=\"bD=(HSHU48zl0{-/~noc\"><field name=\"VAR\" id=\"NC[lQ:--CtUITd)_|c$p\" variabletype=\"\">positions</field><value name=\"VALUE\"><block type=\"hashmap_get_value\" id=\"#vbA+ig3tU@xSb1A|_w2\"><value name=\"key\"><block type=\"text\" id=\"i9_5n1O#`=t.~U,8FpGw\"><field name=\"TEXT\">positions</field></block></value><value name=\"map\"><block type=\"variables_get\" id=\"_JBza([QOX!qv/3VdYg9\"><field name=\"VAR\" id=\"t0%]}C@b{,qd7|sPe9zc\" variabletype=\"\">tag_map</field></block></value></block></value><next><block type=\"controls_if\" id=\"OGk43S34JND/,jXGeVxz\"><value name=\"IF0\"><block type=\"logic_compare\" id=\"0JLvc%7rD_C|!6cqFw-$\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"lists_length\" id=\"J_lY]]zCbQ[u!MMD-Id2\"><value name=\"VALUE\"><block type=\"variables_get\" id=\"kD{*,b/[9X1eU%FDp-mJ\"><field name=\"VAR\" id=\"1J4H~VmQG*H$]$Q_:B__\" variabletype=\"\">codes</field></block></value></block></value><value name=\"B\"><block type=\"math_number\" id=\"EL*s.|ZMPGGbeVRYLFL8\"><field name=\"NUM\">0</field></block></value></block></value><statement name=\"DO0\"><block type=\"controls_if\" id=\"}|0Q`9cnLb|W)A4rACn(\"><value name=\"IF0\"><block type=\"logic_compare\" id=\"SCm%!EpAerkyxrIF#P,5\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"lists_getIndex\" id=\"0NuaF,a-Mq%n]0F5yO71\"><mutation statement=\"false\" at=\"false\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">LAST</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\"h*z9nE!]v$fkNq=L9Z1~\"><mutation statement=\"false\" at=\"false\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FIRST</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"TufaIZ~qb|Vm:zW)ks^F\"><field name=\"VAR\" id=\"NC[lQ:--CtUITd)_|c$p\" variabletype=\"\">positions</field></block></value></block></value></block></value><value name=\"B\"><block type=\"math_number\" id=\"PCV}Dn!d_nmNHl([4UL8\"><field name=\"NUM\">150</field></block></value></block></value><statement name=\"DO0\"><block type=\"variables_set\" id=\"k,p,V2i8b9cLa+XvIA1(\"><field name=\"VAR\" id=\"6J?]Su~9cMcJ?1k)5D+=\" variabletype=\"\">code</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\":+(Y+3IFohgd9%TmK,~h\"><mutation statement=\"false\" at=\"false\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FIRST</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"@3wq8S#-um/Akpz8P@)N\"><field name=\"VAR\" id=\"1J4H~VmQG*H$]$Q_:B__\" variabletype=\"\">codes</field></block></value></block></value><next><block type=\"text_print\" id=\"{9n*QwIw`Xz2rr%]!||i\"><value name=\"TEXT\"><block type=\"variables_get\" id=\"g(BLm4y~J!I]Is)_+e.G\"><field name=\"VAR\" id=\"1J4H~VmQG*H$]$Q_:B__\" variabletype=\"\">codes</field></block></value><next><block type=\"controls_if\" id=\"a-*{EC|T*!~|Jy1T;ky#\"><mutation elseif=\"4\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"vBhZBNkW2fzfWPMBh7PA\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"|hM?o_^1/MjiZMk9f-Hi\"><field name=\"VAR\" id=\"6J?]Su~9cMcJ?1k)5D+=\" variabletype=\"\">code</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"T)cl7En!l}Tz;C{RAQmS\"><field name=\"NUM\">1</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\" id=\"Qf$Tb:D7*.]1HC0#SV-w\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_number\" id=\"),wc.^}!FuO^[.fR5q+.\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"LvWv=:PuvKwdQKUqC!?Y\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_adv_move\" id=\"ks-wQ/9rha8HgY/5D7h8\"><field name=\"ACTION\">LEFT</field><value name=\"SPEED\"><block type=\"math_number\" id=\"QC$[#;#k/{[cXjT9|rFM\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"r7k/daFIIP-h9r4]b*[I\"><field name=\"NUM\">1</field></block></value></block></next></block></statement><value name=\"IF1\"><block type=\"logic_compare\" id=\"1Bn+v{5X{t^w6~QWeM49\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"eortt4PGO/b|wmiM5W[m\"><field name=\"VAR\" id=\"6J?]Su~9cMcJ?1k)5D+=\" variabletype=\"\">code</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"lmmlOegf8o|uu},4OJNW\"><field name=\"NUM\">2</field></block></value></block></value><statement name=\"DO1\"><block type=\"coderbot_adv_move\" id=\"w$$-?Uh:1Rl@;`E*Av6C\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_number\" id=\"F:8LVYpTX]{Ox!iCa[U*\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"O)?`ZH~wDS@v!2JAwVA8\"><field name=\"NUM\">3</field></block></value></block></statement><value name=\"IF2\"><block type=\"logic_compare\" id=\";I.JQ{LcQebMq+Nm7o?I\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"|/1VTr97/4/eDb~hP?{g\"><field name=\"VAR\" id=\"6J?]Su~9cMcJ?1k)5D+=\" variabletype=\"\">code</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"{/N?L?9p9,Vpq9+JpM+}\"><field name=\"NUM\">3</field></block></value></block></value><statement name=\"DO2\"><block type=\"coderbot_adv_move\" id=\"[.uLTR$Q5eNd8!6wtvt=\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_number\" id=\"Qzrz#P^X_/TaN@zz_wv`\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"XLk{ic:(6Z=]u-mXr$5#\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_adv_move\" id=\"VbCuoNCr6`._jSHeX}u%\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_number\" id=\"fuihEymc@dwWL(CFQTX#\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"sm0p34bg|Tw%*:JTUF_i\"><field name=\"NUM\">1</field></block></value></block></next></block></statement><value name=\"IF3\"><block type=\"logic_compare\" id=\"Ma(^bi?_`^YErYgp4h,P\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"r@fO;U{M?YQ=Fj9rJJtD\"><field name=\"VAR\" id=\"6J?]Su~9cMcJ?1k)5D+=\" variabletype=\"\">code</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"F./nuSmkfx;j=a.Xb||H\"><field name=\"NUM\">4</field></block></value></block></value><statement name=\"DO3\"><block type=\"controls_repeat_ext\" id=\"!*8%}BA^?C8ncHv`O=y;\"><value name=\"TIMES\"><block type=\"math_number\" id=\"mmRw*r1VW@9EOf*~U`(:\"><field name=\"NUM\">2</field></block></value><statement name=\"DO\"><block type=\"coderbot_adv_move\" id=\"h|=HGhp,p%JLZ6SjVA]d\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_number\" id=\"ZM(/`ez$r4zl0JJXT(4v\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"7j.A;~YcadM%5QQe2n{R\"><field name=\"NUM\">0.5</field></block></value><next><block type=\"coderbot_adv_move\" id=\"YI6yNSOV`Zs^(Ys}w{A4\"><field name=\"ACTION\">LEFT</field><value name=\"SPEED\"><block type=\"math_number\" id=\"Co1AlC0ej9L8xK:DuSzB\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"E3tV*]cN%|8g@UilswEz\"><field name=\"NUM\">0.5</field></block></value></block></next></block></statement><next><block type=\"coderbot_audio_say\" id=\"6IK2cc.l8ZX7+=V*IFjT\"><field name=\"LOCALE\">it</field><value name=\"TEXT\"><block type=\"text\" id=\"+%T8MdX}|,B;r,=+S|Nj\"><field name=\"TEXT\">Sono arrivato!</field></block></value></block></next></block></statement><value name=\"IF4\"><block type=\"logic_compare\" id=\"unM/bY{:-`/BAwdbil*~\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\")HXZ]{NR`iX]-+gBKya6\"><field name=\"VAR\" id=\"6J?]Su~9cMcJ?1k)5D+=\" variabletype=\"\">code</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"MTJWF/*U[,/Aq=)gUK~@\"><field name=\"NUM\">5</field></block></value></block></value><statement name=\"DO4\"><block type=\"coderbot_audio_say\" id=\"$WB=k8dnPq;7!6KtgGSL\"><field name=\"LOCALE\">it</field><value name=\"TEXT\"><block type=\"text\" id=\"KuYp/v**F!_(?,!?~rQp\"><field name=\"TEXT\">Attenzione!</field></block></value></block></statement></block></next></block></next></block></statement></block></statement><next><block type=\"text_print\" id=\"7BYNgrmH0+*5Apcu|R[%\"><value name=\"TEXT\"><block type=\"text\" id=\"YMLXch,ZSheJiLbJ]h~f\"><field name=\"TEXT\"></field></block></value></block></next></block></next></block></next></block></next></block></statement></block></xml>", "code": "tag_map = None\ncode = None\nlista = None\ncodes = None\npositions = None\n\n\nwhile True:\n get_prog_eng().check_end()\n tag_map = get_cam().find_ar_code()\n codes = tag_map.get('codes')\n positions = tag_map.get('positions')\n if len(codes) > 0:\n if positions[0][-1] > 150:\n code = codes[0]\n get_cam().set_text(codes)\n if code == 1:\n get_bot().forward(speed=100, elapse=1)\n get_bot().left(speed=100, elapse=1)\n elif code == 2:\n get_bot().forward(speed=100, elapse=3)\n elif code == 3:\n get_bot().forward(speed=100, elapse=1)\n get_bot().right(speed=100, elapse=1)\n elif code == 4:\n for count in range(2):\n get_prog_eng().check_end()\n get_bot().right(speed=100, elapse=0.5)\n get_bot().left(speed=100, elapse=0.5)\n get_audio().say('Sono arrivato!', locale=\"it\")\n elif code == 5:\n get_audio().say('Attenzione!', locale=\"it\")\n get_cam().set_text('')\n", "name": "ar_bot"}
\ No newline at end of file
+{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><variables><variable type=\"\" id=\"t0%]}C@b{,qd7|sPe9zc\">tag_map</variable><variable type=\"\" id=\"6J?]Su~9cMcJ?1k)5D+=\">code</variable><variable type=\"\" id=\"w5)*3TcHccLvv^WOkh`c\">lista</variable><variable type=\"\" id=\"1J4H~VmQG*H$]$Q_:B__\">codes</variable><variable type=\"\" id=\"NC[lQ:--CtUITd)_|c$p\">positions</variable></variables><block type=\"controls_whileUntil\" id=\"@h-]#0?:MKRG}h:8:^x9\" x=\"-30\" y=\"144\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"#`fvr:O?_:Ttu0Bf{!]|\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\" id=\"=^-j5Ga1MVnuBee97Y@C\"><field name=\"VAR\" id=\"t0%]}C@b{,qd7|sPe9zc\" variabletype=\"\">tag_map</field><value name=\"VALUE\"><block type=\"coderbot_adv_findARCode\" id=\"s#f+e.r41WtcACO*8E@R\"></block></value><next><block type=\"variables_set\" id=\"#WGMDf[e(XBFiFV~%T{/\"><field name=\"VAR\" id=\"1J4H~VmQG*H$]$Q_:B__\" variabletype=\"\">codes</field><value name=\"VALUE\"><block type=\"hashmap_get_value\" id=\"8n882RO_@|$b|*I#O`vD\"><value name=\"key\"><block type=\"text\" id=\"o)iJvT6q3wE1n$|w?}@W\"><field name=\"TEXT\">codes</field></block></value><value name=\"map\"><block type=\"variables_get\" id=\"jCx{KU9(=6P@.|peNlXN\"><field name=\"VAR\" id=\"t0%]}C@b{,qd7|sPe9zc\" variabletype=\"\">tag_map</field></block></value></block></value><next><block type=\"variables_set\" id=\"bD=(HSHU48zl0{-/~noc\"><field name=\"VAR\" id=\"NC[lQ:--CtUITd)_|c$p\" variabletype=\"\">positions</field><value name=\"VALUE\"><block type=\"hashmap_get_value\" id=\"#vbA+ig3tU@xSb1A|_w2\"><value name=\"key\"><block type=\"text\" id=\"i9_5n1O#`=t.~U,8FpGw\"><field name=\"TEXT\">positions</field></block></value><value name=\"map\"><block type=\"variables_get\" id=\"_JBza([QOX!qv/3VdYg9\"><field name=\"VAR\" id=\"t0%]}C@b{,qd7|sPe9zc\" variabletype=\"\">tag_map</field></block></value></block></value><next><block type=\"controls_if\" id=\"OGk43S34JND/,jXGeVxz\"><value name=\"IF0\"><block type=\"logic_compare\" id=\"0JLvc%7rD_C|!6cqFw-$\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"lists_length\" id=\"J_lY]]zCbQ[u!MMD-Id2\"><value name=\"VALUE\"><block type=\"variables_get\" id=\"kD{*,b/[9X1eU%FDp-mJ\"><field name=\"VAR\" id=\"1J4H~VmQG*H$]$Q_:B__\" variabletype=\"\">codes</field></block></value></block></value><value name=\"B\"><block type=\"math_number\" id=\"EL*s.|ZMPGGbeVRYLFL8\"><field name=\"NUM\">0</field></block></value></block></value><statement name=\"DO0\"><block type=\"controls_if\" id=\"}|0Q`9cnLb|W)A4rACn(\"><value name=\"IF0\"><block type=\"logic_compare\" id=\"SCm%!EpAerkyxrIF#P,5\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"lists_getIndex\" id=\"0NuaF,a-Mq%n]0F5yO71\"><mutation statement=\"false\" at=\"false\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">LAST</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\"h*z9nE!]v$fkNq=L9Z1~\"><mutation statement=\"false\" at=\"false\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FIRST</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"TufaIZ~qb|Vm:zW)ks^F\"><field name=\"VAR\" id=\"NC[lQ:--CtUITd)_|c$p\" variabletype=\"\">positions</field></block></value></block></value></block></value><value name=\"B\"><block type=\"math_number\" id=\"PCV}Dn!d_nmNHl([4UL8\"><field name=\"NUM\">150</field></block></value></block></value><statement name=\"DO0\"><block type=\"variables_set\" id=\"k,p,V2i8b9cLa+XvIA1(\"><field name=\"VAR\" id=\"6J?]Su~9cMcJ?1k)5D+=\" variabletype=\"\">code</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\":+(Y+3IFohgd9%TmK,~h\"><mutation statement=\"false\" at=\"false\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FIRST</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"@3wq8S#-um/Akpz8P@)N\"><field name=\"VAR\" id=\"1J4H~VmQG*H$]$Q_:B__\" variabletype=\"\">codes</field></block></value></block></value><next><block type=\"text_print\" id=\"{9n*QwIw`Xz2rr%]!||i\"><value name=\"TEXT\"><block type=\"variables_get\" id=\"g(BLm4y~J!I]Is)_+e.G\"><field name=\"VAR\" id=\"1J4H~VmQG*H$]$Q_:B__\" variabletype=\"\">codes</field></block></value><next><block type=\"controls_if\" id=\"a-*{EC|T*!~|Jy1T;ky#\"><mutation elseif=\"4\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"vBhZBNkW2fzfWPMBh7PA\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"|hM?o_^1/MjiZMk9f-Hi\"><field name=\"VAR\" id=\"6J?]Su~9cMcJ?1k)5D+=\" variabletype=\"\">code</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"T)cl7En!l}Tz;C{RAQmS\"><field name=\"NUM\">1</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\" id=\"Qf$Tb:D7*.]1HC0#SV-w\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_number\" id=\"),wc.^}!FuO^[.fR5q+.\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"LvWv=:PuvKwdQKUqC!?Y\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_adv_move\" id=\"ks-wQ/9rha8HgY/5D7h8\"><field name=\"ACTION\">LEFT</field><value name=\"SPEED\"><block type=\"math_number\" id=\"QC$[#;#k/{[cXjT9|rFM\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"r7k/daFIIP-h9r4]b*[I\"><field name=\"NUM\">1</field></block></value></block></next></block></statement><value name=\"IF1\"><block type=\"logic_compare\" id=\"1Bn+v{5X{t^w6~QWeM49\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"eortt4PGO/b|wmiM5W[m\"><field name=\"VAR\" id=\"6J?]Su~9cMcJ?1k)5D+=\" variabletype=\"\">code</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"lmmlOegf8o|uu},4OJNW\"><field name=\"NUM\">2</field></block></value></block></value><statement name=\"DO1\"><block type=\"coderbot_adv_move\" id=\"w$$-?Uh:1Rl@;`E*Av6C\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_number\" id=\"F:8LVYpTX]{Ox!iCa[U*\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"O)?`ZH~wDS@v!2JAwVA8\"><field name=\"NUM\">3</field></block></value></block></statement><value name=\"IF2\"><block type=\"logic_compare\" id=\";I.JQ{LcQebMq+Nm7o?I\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"|/1VTr97/4/eDb~hP?{g\"><field name=\"VAR\" id=\"6J?]Su~9cMcJ?1k)5D+=\" variabletype=\"\">code</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"{/N?L?9p9,Vpq9+JpM+}\"><field name=\"NUM\">3</field></block></value></block></value><statement name=\"DO2\"><block type=\"coderbot_adv_move\" id=\"[.uLTR$Q5eNd8!6wtvt=\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_number\" id=\"Qzrz#P^X_/TaN@zz_wv`\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"XLk{ic:(6Z=]u-mXr$5#\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_adv_move\" id=\"VbCuoNCr6`._jSHeX}u%\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_number\" id=\"fuihEymc@dwWL(CFQTX#\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"sm0p34bg|Tw%*:JTUF_i\"><field name=\"NUM\">1</field></block></value></block></next></block></statement><value name=\"IF3\"><block type=\"logic_compare\" id=\"Ma(^bi?_`^YErYgp4h,P\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"r@fO;U{M?YQ=Fj9rJJtD\"><field name=\"VAR\" id=\"6J?]Su~9cMcJ?1k)5D+=\" variabletype=\"\">code</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"F./nuSmkfx;j=a.Xb||H\"><field name=\"NUM\">4</field></block></value></block></value><statement name=\"DO3\"><block type=\"controls_repeat_ext\" id=\"!*8%}BA^?C8ncHv`O=y;\"><value name=\"TIMES\"><block type=\"math_number\" id=\"mmRw*r1VW@9EOf*~U`(:\"><field name=\"NUM\">2</field></block></value><statement name=\"DO\"><block type=\"coderbot_adv_move\" id=\"h|=HGhp,p%JLZ6SjVA]d\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_number\" id=\"ZM(/`ez$r4zl0JJXT(4v\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"7j.A;~YcadM%5QQe2n{R\"><field name=\"NUM\">0.5</field></block></value><next><block type=\"coderbot_adv_move\" id=\"YI6yNSOV`Zs^(Ys}w{A4\"><field name=\"ACTION\">LEFT</field><value name=\"SPEED\"><block type=\"math_number\" id=\"Co1AlC0ej9L8xK:DuSzB\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"E3tV*]cN%|8g@UilswEz\"><field name=\"NUM\">0.5</field></block></value></block></next></block></statement><next><block type=\"coderbot_audio_say\" id=\"6IK2cc.l8ZX7+=V*IFjT\"><field name=\"LOCALE\">it</field><value name=\"TEXT\"><block type=\"text\" id=\"+%T8MdX}|,B;r,=+S|Nj\"><field name=\"TEXT\">Sono arrivato!</field></block></value></block></next></block></statement><value name=\"IF4\"><block type=\"logic_compare\" id=\"unM/bY{:-`/BAwdbil*~\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\")HXZ]{NR`iX]-+gBKya6\"><field name=\"VAR\" id=\"6J?]Su~9cMcJ?1k)5D+=\" variabletype=\"\">code</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"MTJWF/*U[,/Aq=)gUK~@\"><field name=\"NUM\">5</field></block></value></block></value><statement name=\"DO4\"><block type=\"coderbot_audio_say\" id=\"$WB=k8dnPq;7!6KtgGSL\"><field name=\"LOCALE\">it</field><value name=\"TEXT\"><block type=\"text\" id=\"KuYp/v**F!_(?,!?~rQp\"><field name=\"TEXT\">Attenzione!</field></block></value></block></statement></block></next></block></next></block></statement></block></statement><next><block type=\"text_print\" id=\"7BYNgrmH0+*5Apcu|R[%\"><value name=\"TEXT\"><block type=\"text\" id=\"YMLXch,ZSheJiLbJ]h~f\"><field name=\"TEXT\"></field></block></value></block></next></block></next></block></next></block></next></block></statement></block></xml>", "code": "tag_map = None\ncode = None\nlista = None\ncodes = None\npositions = None\n\n\nwhile True:\n get_prog_eng().check_end()\n tag_map = get_cam().find_ar_code()\n codes = tag_map.get('codes')\n positions = tag_map.get('positions')\n if len(codes) > 0:\n if positions[0][-1] > 150:\n code = codes[0]\n get_cam().set_text(codes)\n if code == 1:\n get_bot().forward(speed=100, elapse=1)\n get_bot().left(speed=100, elapse=1)\n elif code == 2:\n get_bot().forward(speed=100, elapse=3)\n elif code == 3:\n get_bot().forward(speed=100, elapse=1)\n get_bot().right(speed=100, elapse=1)\n elif code == 4:\n for count in range(2):\n get_prog_eng().check_end()\n get_bot().right(speed=100, elapse=0.5)\n get_bot().left(speed=100, elapse=0.5)\n get_audio().say('Sono arrivato!', locale=\"it\")\n elif code == 5:\n get_audio().say('Attenzione!', locale=\"it\")\n get_cam().set_text('')\n", "name": "demo_ar_tags"}
\ No newline at end of file
diff --git a/defaults/programs/program_demo_cat_follower.json b/defaults/programs/program_demo_cat_follower.json
index 2c744cc5..905374e6 100644
--- a/defaults/programs/program_demo_cat_follower.json
+++ b/defaults/programs/program_demo_cat_follower.json
@@ -1 +1 @@
-{"name": "cat_follower", "dom_code": "<xml xmlns=\"https://developers.google.com/blockly/xml\"><variables><variable id=\",?YI{f}$o~t3-v%!oOh`\">object</variable><variable id=\"9layCHw;-1P!)]pX+m2W\">class</variable><variable id=\"80w]HhW?e7QM%yfJ*[BS\">position</variable><variable id=\"fRn/=2s}a[[jcCloxlyH\">pos_x</variable></variables><block type=\"controls_whileUntil\" id=\"[^a!+/Zsc!iXdJ*Z-Go#\" x=\"43\" y=\"19\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"2Qi5#s+x(vg-{l2glVGI\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\" id=\"0Y_GS_fw!h^YTb,XeKz#\"><field name=\"VAR\" id=\",?YI{f}$o~t3-v%!oOh`\">object</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\"_GYqAA5bQtVd@ICQGW(U\"><mutation statement=\"false\" at=\"false\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FIRST</field><value name=\"VALUE\"><block type=\"coderbot_adv_cnn_detect_objects\" id=\"m(x+AUHK}k[f:xAb;!iH\"><field name=\"MODEL\">generic_object_detect</field></block></value></block></value><next><block type=\"variables_set\" id=\":mq1jiC7D(V_yjV]p+bj\"><field name=\"VAR\" id=\"9layCHw;-1P!)]pX+m2W\">class</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\"gg?Rm?i]1V[@Sk0~,6}U\"><mutation statement=\"false\" at=\"false\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FIRST</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"jWBE:9@+HD)M5w(R6-+R\"><field name=\"VAR\" id=\",?YI{f}$o~t3-v%!oOh`\">object</field></block></value></block></value><next><block type=\"controls_if\" id=\"SoONo/Qzd^PSRs3kDLW4\"><mutation else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"girWO4BMe2k@24#mK9W|\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"9oEqGs$i`cb!|tDMGcUs\"><field name=\"VAR\" id=\"9layCHw;-1P!)]pX+m2W\">class</field></block></value><value name=\"B\"><block type=\"text\" id=\"57hUIBHt5-};Ur^Ym(`p\"><field name=\"TEXT\">cat</field></block></value></block></value><statement name=\"DO0\"><block type=\"variables_set\" id=\":krqJ`zM+j//B~motZ@5\"><field name=\"VAR\" id=\"80w]HhW?e7QM%yfJ*[BS\">position</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\"n*i|7Ey@DqvX+8X;^2fb\"><mutation statement=\"false\" at=\"true\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FROM_START</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"$p#z76Ff-*8z$I:6(%:F\"><field name=\"VAR\" id=\",?YI{f}$o~t3-v%!oOh`\">object</field></block></value><value name=\"AT\"><block type=\"math_number\" id=\"?s]?2J@-Pc6i1f-y{[09\"><field name=\"NUM\">3</field></block></value></block></value><next><block type=\"variables_set\" id=\"[:tR1VyS6qeSU?!D)`sN\"><field name=\"VAR\" id=\"fRn/=2s}a[[jcCloxlyH\">pos_x</field><value name=\"VALUE\"><block type=\"math_arithmetic\" id=\"*U,nQR1[HxPKn8W%pkCz\"><field name=\"OP\">DIVIDE</field><value name=\"A\"><block type=\"math_arithmetic\" id=\"uc.~ggYr?xqXV/.F7s1u\"><field name=\"OP\">ADD</field><value name=\"A\"><block type=\"lists_getIndex\" id=\"kuISxM{Klu36vQ]Jo+P@\"><mutation statement=\"false\" at=\"true\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FROM_START</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"?gyq($9~Uq.~3XY8_J9)\"><field name=\"VAR\" id=\"80w]HhW?e7QM%yfJ*[BS\">position</field></block></value><value name=\"AT\"><block type=\"math_number\" id=\"(1G%d4(*1Vqq?1xk.^{t\"><field name=\"NUM\">1</field></block></value></block></value><value name=\"B\"><block type=\"lists_getIndex\" id=\".Xk?/{p+tLXc=}|OA82n\"><mutation statement=\"false\" at=\"true\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FROM_START</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"|IdyV?|5py+=3,0!:z_A\"><field name=\"VAR\" id=\"80w]HhW?e7QM%yfJ*[BS\">position</field></block></value><value name=\"AT\"><block type=\"math_number\" id=\",Me8:/`3uBpfuBZrA)sp\"><field name=\"NUM\">3</field></block></value></block></value></block></value><value name=\"B\"><block type=\"math_number\" id=\"m~K8F`G6T$ha/a^LdD5Z\"><field name=\"NUM\">2</field></block></value></block></value><next><block type=\"text_print\" id=\"|,^zQ|VUQq/(lt,K`8y0\"><value name=\"TEXT\"><block type=\"variables_get\" id=\"#QdSbUp(4Hn;Xk(4xe0G\"><field name=\"VAR\" id=\"9layCHw;-1P!)]pX+m2W\">class</field></block></value><next><block type=\"controls_if\" id=\"}1i(Om9l5~9.WOIq!=W`\"><mutation elseif=\"1\" else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"~.k].tdW8FF4#-(AeXsM\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"variables_get\" id=\")KUmL+N6#~?rM~GnqH[G\"><field name=\"VAR\" id=\"fRn/=2s}a[[jcCloxlyH\">pos_x</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"l*=6l=SR/g6%(|]$i;}C\"><field name=\"NUM\">40</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\" id=\":YSGyu*XL_u{)zQBD:{X\"><field name=\"ACTION\">LEFT</field><value name=\"SPEED\"><block type=\"math_number\" id=\"de??^JX,i_mkb$RsmNXs\"><field name=\"NUM\">60</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"zs-Cre_[w%5@VNoMwi;l\"><field name=\"NUM\">0.1</field></block></value></block></statement><value name=\"IF1\"><block type=\"logic_compare\" id=\"+S5!K$WfFhj@QhRSokhV\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"variables_get\" id=\"J%|{#:u3(!lcF4.B~gQt\"><field name=\"VAR\" id=\"fRn/=2s}a[[jcCloxlyH\">pos_x</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"[gg?3(+hO-?.%qW,`@t~\"><field name=\"NUM\">60</field></block></value></block></value><statement name=\"DO1\"><block type=\"coderbot_adv_move\" id=\"vA*_d?-Bwh55o,{*%v:G\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_number\" id=\"W}pFMYn/}2RnG+E86e~v\"><field name=\"NUM\">60</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"as/ZY,XwrTw`@Z~O9B`$\"><field name=\"NUM\">0.1</field></block></value></block></statement><statement name=\"ELSE\"><block type=\"coderbot_adv_move\" id=\"Xs:ewoKw*Fg3UK*sRCNm\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_number\" id=\"qSFO9:h}?s~cD:hj(r:(\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"Nh^fXOiu1$x8[$i1C2IV\"><field name=\"NUM\">0.2</field></block></value></block></statement></block></next></block></next></block></next></block></statement><statement name=\"ELSE\"><block type=\"text_print\" id=\"PAYJ[1S)`0Gl#=M`cX=g\"><value name=\"TEXT\"><block type=\"variables_get\" id=\"2nPmKkqF|Y:u3?r=5y|n\"><field name=\"VAR\" id=\",?YI{f}$o~t3-v%!oOh`\">object</field></block></value></block></statement></block></next></block></next></block></statement></block></xml>", "code": "object2 = None\nclass2 = None\nposition = None\npos_x = None\n\n\nwhile True:\n get_prog_eng().check_end()\n object2 = get_cam().cnn_detect_objects(\"generic_object_detect\")[0]\n class2 = object2[0]\n if class2 == 'cat':\n position = object2[2]\n pos_x = (position[0] + position[2]) / 2\n get_cam().set_text(class2)\n if pos_x < 40:\n get_bot().left(speed=60, elapse=0.1)\n elif pos_x > 60:\n get_bot().right(speed=60, elapse=0.1)\n else:\n get_bot().forward(speed=100, elapse=0.2)\n else:\n get_cam().set_text(object2)\n"}
\ No newline at end of file
+{"name": "demo_cat_follower", "dom_code": "<xml xmlns=\"https://developers.google.com/blockly/xml\"><variables><variable id=\",?YI{f}$o~t3-v%!oOh`\">object</variable><variable id=\"9layCHw;-1P!)]pX+m2W\">class</variable><variable id=\"80w]HhW?e7QM%yfJ*[BS\">position</variable><variable id=\"fRn/=2s}a[[jcCloxlyH\">pos_x</variable></variables><block type=\"controls_whileUntil\" id=\"[^a!+/Zsc!iXdJ*Z-Go#\" x=\"43\" y=\"19\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"2Qi5#s+x(vg-{l2glVGI\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\" id=\"0Y_GS_fw!h^YTb,XeKz#\"><field name=\"VAR\" id=\",?YI{f}$o~t3-v%!oOh`\">object</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\"_GYqAA5bQtVd@ICQGW(U\"><mutation statement=\"false\" at=\"false\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FIRST</field><value name=\"VALUE\"><block type=\"coderbot_adv_cnn_detect_objects\" id=\"m(x+AUHK}k[f:xAb;!iH\"><field name=\"MODEL\">generic_object_detect</field></block></value></block></value><next><block type=\"variables_set\" id=\":mq1jiC7D(V_yjV]p+bj\"><field name=\"VAR\" id=\"9layCHw;-1P!)]pX+m2W\">class</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\"gg?Rm?i]1V[@Sk0~,6}U\"><mutation statement=\"false\" at=\"false\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FIRST</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"jWBE:9@+HD)M5w(R6-+R\"><field name=\"VAR\" id=\",?YI{f}$o~t3-v%!oOh`\">object</field></block></value></block></value><next><block type=\"controls_if\" id=\"SoONo/Qzd^PSRs3kDLW4\"><mutation else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"girWO4BMe2k@24#mK9W|\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"9oEqGs$i`cb!|tDMGcUs\"><field name=\"VAR\" id=\"9layCHw;-1P!)]pX+m2W\">class</field></block></value><value name=\"B\"><block type=\"text\" id=\"57hUIBHt5-};Ur^Ym(`p\"><field name=\"TEXT\">cat</field></block></value></block></value><statement name=\"DO0\"><block type=\"variables_set\" id=\":krqJ`zM+j//B~motZ@5\"><field name=\"VAR\" id=\"80w]HhW?e7QM%yfJ*[BS\">position</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\"n*i|7Ey@DqvX+8X;^2fb\"><mutation statement=\"false\" at=\"true\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FROM_START</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"$p#z76Ff-*8z$I:6(%:F\"><field name=\"VAR\" id=\",?YI{f}$o~t3-v%!oOh`\">object</field></block></value><value name=\"AT\"><block type=\"math_number\" id=\"?s]?2J@-Pc6i1f-y{[09\"><field name=\"NUM\">3</field></block></value></block></value><next><block type=\"variables_set\" id=\"[:tR1VyS6qeSU?!D)`sN\"><field name=\"VAR\" id=\"fRn/=2s}a[[jcCloxlyH\">pos_x</field><value name=\"VALUE\"><block type=\"math_arithmetic\" id=\"*U,nQR1[HxPKn8W%pkCz\"><field name=\"OP\">DIVIDE</field><value name=\"A\"><block type=\"math_arithmetic\" id=\"uc.~ggYr?xqXV/.F7s1u\"><field name=\"OP\">ADD</field><value name=\"A\"><block type=\"lists_getIndex\" id=\"kuISxM{Klu36vQ]Jo+P@\"><mutation statement=\"false\" at=\"true\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FROM_START</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"?gyq($9~Uq.~3XY8_J9)\"><field name=\"VAR\" id=\"80w]HhW?e7QM%yfJ*[BS\">position</field></block></value><value name=\"AT\"><block type=\"math_number\" id=\"(1G%d4(*1Vqq?1xk.^{t\"><field name=\"NUM\">1</field></block></value></block></value><value name=\"B\"><block type=\"lists_getIndex\" id=\".Xk?/{p+tLXc=}|OA82n\"><mutation statement=\"false\" at=\"true\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FROM_START</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"|IdyV?|5py+=3,0!:z_A\"><field name=\"VAR\" id=\"80w]HhW?e7QM%yfJ*[BS\">position</field></block></value><value name=\"AT\"><block type=\"math_number\" id=\",Me8:/`3uBpfuBZrA)sp\"><field name=\"NUM\">3</field></block></value></block></value></block></value><value name=\"B\"><block type=\"math_number\" id=\"m~K8F`G6T$ha/a^LdD5Z\"><field name=\"NUM\">2</field></block></value></block></value><next><block type=\"text_print\" id=\"|,^zQ|VUQq/(lt,K`8y0\"><value name=\"TEXT\"><block type=\"variables_get\" id=\"#QdSbUp(4Hn;Xk(4xe0G\"><field name=\"VAR\" id=\"9layCHw;-1P!)]pX+m2W\">class</field></block></value><next><block type=\"controls_if\" id=\"}1i(Om9l5~9.WOIq!=W`\"><mutation elseif=\"1\" else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"~.k].tdW8FF4#-(AeXsM\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"variables_get\" id=\")KUmL+N6#~?rM~GnqH[G\"><field name=\"VAR\" id=\"fRn/=2s}a[[jcCloxlyH\">pos_x</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"l*=6l=SR/g6%(|]$i;}C\"><field name=\"NUM\">40</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\" id=\":YSGyu*XL_u{)zQBD:{X\"><field name=\"ACTION\">LEFT</field><value name=\"SPEED\"><block type=\"math_number\" id=\"de??^JX,i_mkb$RsmNXs\"><field name=\"NUM\">60</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"zs-Cre_[w%5@VNoMwi;l\"><field name=\"NUM\">0.1</field></block></value></block></statement><value name=\"IF1\"><block type=\"logic_compare\" id=\"+S5!K$WfFhj@QhRSokhV\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"variables_get\" id=\"J%|{#:u3(!lcF4.B~gQt\"><field name=\"VAR\" id=\"fRn/=2s}a[[jcCloxlyH\">pos_x</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"[gg?3(+hO-?.%qW,`@t~\"><field name=\"NUM\">60</field></block></value></block></value><statement name=\"DO1\"><block type=\"coderbot_adv_move\" id=\"vA*_d?-Bwh55o,{*%v:G\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_number\" id=\"W}pFMYn/}2RnG+E86e~v\"><field name=\"NUM\">60</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"as/ZY,XwrTw`@Z~O9B`$\"><field name=\"NUM\">0.1</field></block></value></block></statement><statement name=\"ELSE\"><block type=\"coderbot_adv_move\" id=\"Xs:ewoKw*Fg3UK*sRCNm\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_number\" id=\"qSFO9:h}?s~cD:hj(r:(\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"Nh^fXOiu1$x8[$i1C2IV\"><field name=\"NUM\">0.2</field></block></value></block></statement></block></next></block></next></block></next></block></statement><statement name=\"ELSE\"><block type=\"text_print\" id=\"PAYJ[1S)`0Gl#=M`cX=g\"><value name=\"TEXT\"><block type=\"variables_get\" id=\"2nPmKkqF|Y:u3?r=5y|n\"><field name=\"VAR\" id=\",?YI{f}$o~t3-v%!oOh`\">object</field></block></value></block></statement></block></next></block></next></block></statement></block></xml>", "code": "object2 = None\nclass2 = None\nposition = None\npos_x = None\n\n\nwhile True:\n get_prog_eng().check_end()\n object2 = get_cam().cnn_detect_objects(\"generic_object_detect\")[0]\n class2 = object2[0]\n if class2 == 'cat':\n position = object2[2]\n pos_x = (position[0] + position[2]) / 2\n get_cam().set_text(class2)\n if pos_x < 40:\n get_bot().left(speed=60, elapse=0.1)\n elif pos_x > 60:\n get_bot().right(speed=60, elapse=0.1)\n else:\n get_bot().forward(speed=100, elapse=0.2)\n else:\n get_cam().set_text(object2)\n"}
\ No newline at end of file
diff --git a/defaults/programs/program_demo_color_seeker.json b/defaults/programs/program_demo_color_seeker.json
index 75c14d28..5c6e53ae 100644
--- a/defaults/programs/program_demo_color_seeker.json
+++ b/defaults/programs/program_demo_color_seeker.json
@@ -1 +1 @@
-{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><block type=\"controls_whileUntil\" x=\"1\" y=\"90\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\"><field name=\"VAR\">dist</field><value name=\"VALUE\"><block type=\"coderbot_adv_findColor\"><field name=\"RETVAL\">DIST</field><value name=\"COLOR\"><block type=\"text\"><field name=\"TEXT\">#96b73c</field></block></value></block></value><next><block type=\"variables_set\"><field name=\"VAR\">angle</field><value name=\"VALUE\"><block type=\"coderbot_adv_findColor\"><field name=\"RETVAL\">ANGLE</field><value name=\"COLOR\"><block type=\"text\"><field name=\"TEXT\">#96b73c</field></block></value></block></value><next><block type=\"text_print\"><value name=\"TEXT\"><block type=\"text_join\"><mutation items=\"4\"></mutation><value name=\"ADD0\"><block type=\"text\"><field name=\"TEXT\">Distance: </field></block></value><value name=\"ADD1\"><block type=\"variables_get\"><field name=\"VAR\">dist</field></block></value><value name=\"ADD2\"><block type=\"text\"><field name=\"TEXT\"> angle: </field></block></value><value name=\"ADD3\"><block type=\"variables_get\"><field name=\"VAR\">angle</field></block></value></block></value><next><block type=\"controls_if\"><mutation elseif=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"variables_get\"><field name=\"VAR\">dist</field></block></value><value name=\"B\"><block type=\"math_number\"><field name=\"NUM\">32</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_number\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">0.1</field></block></value></block></statement><value name=\"IF1\"><block type=\"logic_operation\"><field name=\"OP\">AND</field><value name=\"A\"><block type=\"logic_compare\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"variables_get\"><field name=\"VAR\">dist</field></block></value><value name=\"B\"><block type=\"math_number\"><field name=\"NUM\">28</field></block></value></block></value><value name=\"B\"><block type=\"logic_compare\"><field name=\"OP\">GTE</field><value name=\"A\"><block type=\"variables_get\"><field name=\"VAR\">dist</field></block></value><value name=\"B\"><block type=\"math_number\"><field name=\"NUM\">0</field></block></value></block></value></block></value><statement name=\"DO1\"><block type=\"coderbot_adv_move\"><field name=\"ACTION\">BACKWARD</field><value name=\"SPEED\"><block type=\"math_number\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">0.1</field></block></value></block></statement><next><block type=\"controls_if\"><mutation elseif=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"variables_get\"><field name=\"VAR\">angle</field></block></value><value name=\"B\"><block type=\"math_number\"><field name=\"NUM\">5</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_number\"><field name=\"NUM\">30</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">0.1</field></block></value></block></statement><value name=\"IF1\"><block type=\"logic_compare\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"variables_get\"><field name=\"VAR\">angle</field></block></value><value name=\"B\"><block type=\"math_number\"><field name=\"NUM\">-5</field></block></value></block></value><statement name=\"DO1\"><block type=\"coderbot_adv_move\"><field name=\"ACTION\">LEFT</field><value name=\"SPEED\"><block type=\"math_number\"><field name=\"NUM\">30</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">0.1</field></block></value></block></statement></block></next></block></next></block></next></block></next></block></statement></block></xml>", "code": "dist = None\nangle = None\n\n\nwhile True:\n get_prog_eng().check_end()\n dist = get_cam().find_color('#96b73c')[0]\n angle = get_cam().find_color('#96b73c')[1]\n get_cam().set_text(''.join([str(temp_value) for temp_value in ['Distance: ', dist, ' angle: ', angle]]))\n if dist > 32:\n get_bot().forward(speed=100, elapse=0.1)\n elif dist < 28 and dist >= 0:\n get_bot().backward(speed=100, elapse=0.1)\n if angle > 5:\n get_bot().right(speed=30, elapse=0.1)\n elif angle < -5:\n get_bot().left(speed=30, elapse=0.1)\n", "name": "colour_seeker"}
\ No newline at end of file
+{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><block type=\"controls_whileUntil\" x=\"1\" y=\"90\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\"><field name=\"VAR\">dist</field><value name=\"VALUE\"><block type=\"coderbot_adv_findColor\"><field name=\"RETVAL\">DIST</field><value name=\"COLOR\"><block type=\"text\"><field name=\"TEXT\">#96b73c</field></block></value></block></value><next><block type=\"variables_set\"><field name=\"VAR\">angle</field><value name=\"VALUE\"><block type=\"coderbot_adv_findColor\"><field name=\"RETVAL\">ANGLE</field><value name=\"COLOR\"><block type=\"text\"><field name=\"TEXT\">#96b73c</field></block></value></block></value><next><block type=\"text_print\"><value name=\"TEXT\"><block type=\"text_join\"><mutation items=\"4\"></mutation><value name=\"ADD0\"><block type=\"text\"><field name=\"TEXT\">Distance: </field></block></value><value name=\"ADD1\"><block type=\"variables_get\"><field name=\"VAR\">dist</field></block></value><value name=\"ADD2\"><block type=\"text\"><field name=\"TEXT\"> angle: </field></block></value><value name=\"ADD3\"><block type=\"variables_get\"><field name=\"VAR\">angle</field></block></value></block></value><next><block type=\"controls_if\"><mutation elseif=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"variables_get\"><field name=\"VAR\">dist</field></block></value><value name=\"B\"><block type=\"math_number\"><field name=\"NUM\">32</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_number\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">0.1</field></block></value></block></statement><value name=\"IF1\"><block type=\"logic_operation\"><field name=\"OP\">AND</field><value name=\"A\"><block type=\"logic_compare\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"variables_get\"><field name=\"VAR\">dist</field></block></value><value name=\"B\"><block type=\"math_number\"><field name=\"NUM\">28</field></block></value></block></value><value name=\"B\"><block type=\"logic_compare\"><field name=\"OP\">GTE</field><value name=\"A\"><block type=\"variables_get\"><field name=\"VAR\">dist</field></block></value><value name=\"B\"><block type=\"math_number\"><field name=\"NUM\">0</field></block></value></block></value></block></value><statement name=\"DO1\"><block type=\"coderbot_adv_move\"><field name=\"ACTION\">BACKWARD</field><value name=\"SPEED\"><block type=\"math_number\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">0.1</field></block></value></block></statement><next><block type=\"controls_if\"><mutation elseif=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"variables_get\"><field name=\"VAR\">angle</field></block></value><value name=\"B\"><block type=\"math_number\"><field name=\"NUM\">5</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_number\"><field name=\"NUM\">30</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">0.1</field></block></value></block></statement><value name=\"IF1\"><block type=\"logic_compare\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"variables_get\"><field name=\"VAR\">angle</field></block></value><value name=\"B\"><block type=\"math_number\"><field name=\"NUM\">-5</field></block></value></block></value><statement name=\"DO1\"><block type=\"coderbot_adv_move\"><field name=\"ACTION\">LEFT</field><value name=\"SPEED\"><block type=\"math_number\"><field name=\"NUM\">30</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">0.1</field></block></value></block></statement></block></next></block></next></block></next></block></next></block></statement></block></xml>", "code": "dist = None\nangle = None\n\n\nwhile True:\n get_prog_eng().check_end()\n dist = get_cam().find_color('#96b73c')[0]\n angle = get_cam().find_color('#96b73c')[1]\n get_cam().set_text(''.join([str(temp_value) for temp_value in ['Distance: ', dist, ' angle: ', angle]]))\n if dist > 32:\n get_bot().forward(speed=100, elapse=0.1)\n elif dist < 28 and dist >= 0:\n get_bot().backward(speed=100, elapse=0.1)\n if angle > 5:\n get_bot().right(speed=30, elapse=0.1)\n elif angle < -5:\n get_bot().left(speed=30, elapse=0.1)\n", "name": "demo_color_seeker"}
\ No newline at end of file
diff --git a/defaults/programs/program_demo_io_ext.json b/defaults/programs/program_demo_io_ext.json
index 3265bfcb..315d167b 100644
--- a/defaults/programs/program_demo_io_ext.json
+++ b/defaults/programs/program_demo_io_ext.json
@@ -1 +1 @@
-{"name": "test_io_ext", "dom_code": "<xml xmlns=\"https://developers.google.com/blockly/xml\"><variables><variable id=\"L_e%=^0/~b[gZI1*^ZSd\">Analog_Input_1</variable></variables><block type=\"controls_whileUntil\" id=\"Dl?:_j0SBuhadu{w@UF.\" x=\"228\" y=\"37\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"pJCxtUhR_b%x:dTqn9md\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\" id=\"+v#-(`(Qm]QpW/]^kj=k\"><field name=\"VAR\" id=\"L_e%=^0/~b[gZI1*^ZSd\">Analog_Input_1</field><value name=\"VALUE\"><block type=\"coderbot_atmega_get_input\" id=\"ai)*,59_NZc9svsP|JM:\"><field name=\"INPUT\">0</field></block></value><next><block type=\"text_print\" id=\"QtWQNQO[-l[BZ~e`Qmh$\"><value name=\"TEXT\"><block type=\"text_join\" id=\"1Ukw}Lu=x]S?%jKwDJJV\"><mutation items=\"2\"></mutation><value name=\"ADD0\"><block type=\"text\" id=\"Y9wE(=ZJTe,Y=7yA$1+2\"><field name=\"TEXT\">Analog Input 1: </field></block></value><value name=\"ADD1\"><block type=\"variables_get\" id=\"4QrPsC2-~_VL]6GoH_*O\"><field name=\"VAR\" id=\"L_e%=^0/~b[gZI1*^ZSd\">Analog_Input_1</field></block></value></block></value><next><block type=\"controls_if\" id=\"le3Rmn/8;oI#ps$J,7la\"><mutation else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"pm_-a@W30t?pU$DT9!sX\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"variables_get\" id=\"IrfeoxR,w1!`9%NW+elg\"><field name=\"VAR\" id=\"L_e%=^0/~b[gZI1*^ZSd\">Analog_Input_1</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"R4b=e-`S!g*H6T7B1nel\"><field name=\"NUM\">100</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_atmega_set_output\" id=\"yvJ,i1lZv!^Q~}#Co+-i\"><field name=\"OUTPUT\">0</field><value name=\"VALUE\"><block type=\"logic_boolean\" id=\"Peb+]}4!:tv}p4J_B9]z\"><field name=\"BOOL\">TRUE</field></block></value></block></statement><statement name=\"ELSE\"><block type=\"coderbot_atmega_set_output\" id=\"z/@VGWnrW3D(x,d1SZ^y\"><field name=\"OUTPUT\">0</field><value name=\"VALUE\"><block type=\"logic_boolean\" id=\"$yU!z^ZFMBh!(m7s,9*:\"><field name=\"BOOL\">FALSE</field></block></value></block></statement></block></next></block></next></block></statement></block></xml>", "code": "Analog_Input_1 = None\n\n\nwhile True:\n get_prog_eng().check_end()\n Analog_Input_1 = get_atmega().get_input(0)\n get_cam().set_text('Analog Input 1: ' + str(Analog_Input_1))\n if Analog_Input_1 > 100:\n get_atmega().set_output(0, True)\n else:\n get_atmega().set_output(0, False)\n"}
\ No newline at end of file
+{"name": "demo_io_ext", "dom_code": "<xml xmlns=\"https://developers.google.com/blockly/xml\"><variables><variable id=\"L_e%=^0/~b[gZI1*^ZSd\">Analog_Input_1</variable></variables><block type=\"controls_whileUntil\" id=\"Dl?:_j0SBuhadu{w@UF.\" x=\"228\" y=\"37\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"pJCxtUhR_b%x:dTqn9md\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\" id=\"+v#-(`(Qm]QpW/]^kj=k\"><field name=\"VAR\" id=\"L_e%=^0/~b[gZI1*^ZSd\">Analog_Input_1</field><value name=\"VALUE\"><block type=\"coderbot_atmega_get_input\" id=\"ai)*,59_NZc9svsP|JM:\"><field name=\"INPUT\">0</field></block></value><next><block type=\"text_print\" id=\"QtWQNQO[-l[BZ~e`Qmh$\"><value name=\"TEXT\"><block type=\"text_join\" id=\"1Ukw}Lu=x]S?%jKwDJJV\"><mutation items=\"2\"></mutation><value name=\"ADD0\"><block type=\"text\" id=\"Y9wE(=ZJTe,Y=7yA$1+2\"><field name=\"TEXT\">Analog Input 1: </field></block></value><value name=\"ADD1\"><block type=\"variables_get\" id=\"4QrPsC2-~_VL]6GoH_*O\"><field name=\"VAR\" id=\"L_e%=^0/~b[gZI1*^ZSd\">Analog_Input_1</field></block></value></block></value><next><block type=\"controls_if\" id=\"le3Rmn/8;oI#ps$J,7la\"><mutation else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"pm_-a@W30t?pU$DT9!sX\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"variables_get\" id=\"IrfeoxR,w1!`9%NW+elg\"><field name=\"VAR\" id=\"L_e%=^0/~b[gZI1*^ZSd\">Analog_Input_1</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"R4b=e-`S!g*H6T7B1nel\"><field name=\"NUM\">100</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_atmega_set_output\" id=\"yvJ,i1lZv!^Q~}#Co+-i\"><field name=\"OUTPUT\">0</field><value name=\"VALUE\"><block type=\"logic_boolean\" id=\"Peb+]}4!:tv}p4J_B9]z\"><field name=\"BOOL\">TRUE</field></block></value></block></statement><statement name=\"ELSE\"><block type=\"coderbot_atmega_set_output\" id=\"z/@VGWnrW3D(x,d1SZ^y\"><field name=\"OUTPUT\">0</field><value name=\"VALUE\"><block type=\"logic_boolean\" id=\"$yU!z^ZFMBh!(m7s,9*:\"><field name=\"BOOL\">FALSE</field></block></value></block></statement></block></next></block></next></block></statement></block></xml>", "code": "Analog_Input_1 = None\n\n\nwhile True:\n get_prog_eng().check_end()\n Analog_Input_1 = get_atmega().get_input(0)\n get_cam().set_text('Analog Input 1: ' + str(Analog_Input_1))\n if Analog_Input_1 > 100:\n get_atmega().set_output(0, True)\n else:\n get_atmega().set_output(0, False)\n"}
\ No newline at end of file
diff --git a/defaults/programs/program_demo_line_follower.json b/defaults/programs/program_demo_line_follower.json
index da7ba861..2ad8fb82 100644
--- a/defaults/programs/program_demo_line_follower.json
+++ b/defaults/programs/program_demo_line_follower.json
@@ -1 +1 @@
-{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><variables><variable type=\"\" id=\"44C`F*i%?EbRAm0f[}XQ\">line_x_1</variable><variable type=\"\" id=\"BShIh7Dye|p!AtQ`p8wj\">lista</variable><variable type=\"\" id=\"(`T?t~cnldIn9}cU!6P3\">line_x_list</variable><variable type=\"\" id=\"+9O~W5dFyMgb4R9?j?2j\">line_x_2</variable><variable type=\"\" id=\"G;b/=HFbfhuxT|0?~S[r\">ar_code</variable><variable type=\"\" id=\"kOrv]Wo^Y7{4+#7gA`K;\">ar_code_list</variable></variables><block type=\"controls_whileUntil\" id=\"`]WZt9m4:b-6v?sR0a{6\" x=\"9\" y=\"103\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"?g7Pi#[#{_)~?7~!MUL]\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\" id=\"n/Jg4jt-?ANdJFh!U#R}\"><field name=\"VAR\" id=\"(`T?t~cnldIn9}cU!6P3\" variabletype=\"\">line_x_list</field><value name=\"VALUE\"><block type=\"coderbot_adv_findLine\" id=\"|O16NyeI_GMcWz}e#ht9\"></block></value><next><block type=\"variables_set\" id=\"d:T;q-q)7$dJ(@9w7DF=\"><field name=\"VAR\" id=\"44C`F*i%?EbRAm0f[}XQ\" variabletype=\"\">line_x_1</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\"oA1x#4CMYuz}p|KK8e~S\"><mutation statement=\"false\" at=\"false\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FIRST</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"CIJd6?@63y$}V34}.bC-\"><field name=\"VAR\" id=\"(`T?t~cnldIn9}cU!6P3\" variabletype=\"\">line_x_list</field></block></value></block></value><next><block type=\"variables_set\" id=\"S2ieOivJB5(|7?}~us@M\"><field name=\"VAR\" id=\"kOrv]Wo^Y7{4+#7gA`K;\" variabletype=\"\">ar_code_list</field><value name=\"VALUE\"><block type=\"hashmap_get_value\" id=\"tgJS~3PX=0SJTSMlsaVv\"><value name=\"key\"><block type=\"text\" id=\"Wz#h:CVLwyX,^(^kc{B`\"><field name=\"TEXT\">codes</field></block></value><value name=\"map\"><block type=\"coderbot_adv_findARCode\" id=\"9$MM{KjS8lUj}A;=Pr(z\"></block></value></block></value><next><block type=\"controls_if\" id=\"IL@9S#Xl-hRa#LwNvh.g\"><mutation else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_negate\" id=\"XQTF1;SNhjc#]4#_}9wU\"><value name=\"BOOL\"><block type=\"lists_isEmpty\" id=\"b^36mV09/]tRws|?BYoK\"><value name=\"VALUE\"><block type=\"variables_get\" id=\";qp!b+zbymPr{3WAvNrG\"><field name=\"VAR\" id=\"kOrv]Wo^Y7{4+#7gA`K;\" variabletype=\"\">ar_code_list</field></block></value></block></value></block></value><statement name=\"DO0\"><block type=\"variables_set\" id=\"uv4pqKisw(|c:|d/Do%J\"><field name=\"VAR\" id=\"G;b/=HFbfhuxT|0?~S[r\" variabletype=\"\">ar_code</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\"a0JACY?SyTgO21=or@D6\"><mutation statement=\"false\" at=\"false\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FIRST</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"ySld:`sc3M4=IjeN*RuO\"><field name=\"VAR\" id=\"kOrv]Wo^Y7{4+#7gA`K;\" variabletype=\"\">ar_code_list</field></block></value></block></value></block></statement><statement name=\"ELSE\"><block type=\"variables_set\" id=\"/f{XE@50=WxbI;,=TeW]\"><field name=\"VAR\" id=\"G;b/=HFbfhuxT|0?~S[r\" variabletype=\"\">ar_code</field><value name=\"VALUE\"><block type=\"math_number\" id=\"@XV^(en_.lQ0_#rZkz}#\"><field name=\"NUM\">0</field></block></value></block></statement><next><block type=\"text_print\" id=\"{f1ctd/iW#D,le1V(Cy-\"><value name=\"TEXT\"><block type=\"variables_get\" id=\"5VI:=npMdg$L|=e0/Okn\"><field name=\"VAR\" id=\"G;b/=HFbfhuxT|0?~S[r\" variabletype=\"\">ar_code</field></block></value><next><block type=\"controls_if\" id=\"GvDQg$7WT=Qq6HBCexdf\"><mutation elseif=\"2\" else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\")M6ls=nOUTB^J;|3-Q@=\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"Y9PB[dJ*r*.*=2([@JT:\"><field name=\"VAR\" id=\"G;b/=HFbfhuxT|0?~S[r\" variabletype=\"\">ar_code</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"e`kkA/p8dDJT4Iu`PtP|\"><field name=\"NUM\">1</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_motor\" id=\"mM!-gOyoBb8xLuEK}:PY\"><value name=\"SPEED_LEFT\"><block type=\"math_number\" id=\"MV9CvsB9cK7#oJv5M+Gy\"><field name=\"NUM\">80</field></block></value><value name=\"SPEED_RIGHT\"><block type=\"math_number\" id=\"@I!w63)Db*b!^mzk?7b-\"><field name=\"NUM\">80</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"xz=GX~R6!L1Lz?RO%xSE\"><field name=\"NUM\">-1</field></block></value><value name=\"STEPS_LEFT\"><block type=\"math_number\" id=\"nSLX(4#c?i({f6gx}h$b\"><field name=\"NUM\">1000</field></block></value><value name=\"STEPS_RIGHT\"><block type=\"math_number\" id=\"3C{Tr^vc`K1K7@whf0+#\"><field name=\"NUM\">1000</field></block></value></block></statement><value name=\"IF1\"><block type=\"logic_compare\" id=\"0[pEKb#+c1ukccsj-HGU\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"!.x!ti5!Jl_Qyi_98vP:\"><field name=\"VAR\" id=\"G;b/=HFbfhuxT|0?~S[r\" variabletype=\"\">ar_code</field></block></value><value name=\"B\"><block type=\"math_number\" id=\":Omnr1TfVKRT,{x+CErC\"><field name=\"NUM\">2</field></block></value></block></value><statement name=\"DO1\"><block type=\"coderbot_adv_motor\" id=\"^@Y|H7}/,1f%m;D)rsqN\"><value name=\"SPEED_LEFT\"><block type=\"math_number\" id=\"tpQfUU_t1N9uX9DDLpNK\"><field name=\"NUM\">60</field></block></value><value name=\"SPEED_RIGHT\"><block type=\"math_number\" id=\"X__|/-/MQqilOsxKk.Vn\"><field name=\"NUM\">60</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"sUK%h7;p?NFy6ej0G@ad\"><field name=\"NUM\">-1</field></block></value><value name=\"STEPS_LEFT\"><block type=\"math_number\" id=\"55Q_(wsMzLOOTn,AJ*=o\"><field name=\"NUM\">2000</field></block></value><value name=\"STEPS_RIGHT\"><block type=\"math_number\" id=\"Q(U)4jCVk5tml,K%_m3X\"><field name=\"NUM\">1550</field></block></value></block></statement><value name=\"IF2\"><block type=\"logic_compare\" id=\"-.]jhYzu{)[`q?J|G*@i\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"TYK1ggBo;v^8(fzNK!PO\"><field name=\"VAR\" id=\"G;b/=HFbfhuxT|0?~S[r\" variabletype=\"\">ar_code</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"D2;EP}Ok0vx,}R7Te.[g\"><field name=\"NUM\">6</field></block></value></block></value><statement name=\"DO2\"><block type=\"coderbot_adv_motor\" id=\"FWt]Cn.Gx+x%y|4TMq*/\"><value name=\"SPEED_LEFT\"><block type=\"math_number\" id=\"PN3gP4:wymcc7g[G,=JC\"><field name=\"NUM\">60</field></block></value><value name=\"SPEED_RIGHT\"><block type=\"math_number\" id=\"$svZ(tsG{Q]%-=QakU@7\"><field name=\"NUM\">60</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"IxJ8gaf@V.5xrl3X3yu0\"><field name=\"NUM\">-1</field></block></value><value name=\"STEPS_LEFT\"><block type=\"math_number\" id=\"1hpVYp0#go4@HCi%[MZ`\"><field name=\"NUM\">1550</field></block></value><value name=\"STEPS_RIGHT\"><block type=\"math_number\" id=\"ZuV9iU47evPA,S7J?s+@\"><field name=\"NUM\">2000</field></block></value></block></statement><statement name=\"ELSE\"><block type=\"controls_if\" id=\"]Xst$#BXb%U~.5?C5fN1\"><value name=\"IF0\"><block type=\"logic_compare\" id=\"PD.BkyibEtTX2,VtMdsc\"><field name=\"OP\">GTE</field><value name=\"A\"><block type=\"variables_get\" id=\"UWRm7PH[oi_n9oQsRDGd\"><field name=\"VAR\" id=\"44C`F*i%?EbRAm0f[}XQ\" variabletype=\"\">line_x_1</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"V1b;v7$b+m#/u;2dm6H$\"><field name=\"NUM\">0</field></block></value></block></value><statement name=\"DO0\"><block type=\"controls_if\" id=\",?`$EcLs;XYj{O%B$A~o\"><mutation elseif=\"1\" else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"0WmrG/knZBBpiHSDmLBJ\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"variables_get\" id=\"%amYL^tWO^t8nX`JBAEF\"><field name=\"VAR\" id=\"44C`F*i%?EbRAm0f[}XQ\" variabletype=\"\">line_x_1</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"hIduK@,Vwz{H?bp[WPjj\"><field name=\"NUM\">60</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_motor\" id=\";vD-YiW9)qU8sg-}vcm1\"><value name=\"SPEED_LEFT\"><block type=\"math_number\" id=\"((}~wa#@9K8b}RS#DSq?\"><field name=\"NUM\">40</field></block></value><value name=\"SPEED_RIGHT\"><block type=\"math_number\" id=\":,f0J=^9v|J$I;5Ahy|K\"><field name=\"NUM\">-40</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"L48OY[hxw|)quL7-vkb^\"><field name=\"NUM\">-1</field></block></value><value name=\"STEPS_LEFT\"><block type=\"math_arithmetic\" id=\"Upl0F:r{a0y5cdS.crj)\"><field name=\"OP\">MINUS</field><value name=\"A\"><block type=\"variables_get\" id=\"oS=EnUt$f^C5Vj!8|9C8\"><field name=\"VAR\" id=\"44C`F*i%?EbRAm0f[}XQ\" variabletype=\"\">line_x_1</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"7~z_5vl91w!1jP(k.(Qd\"><field name=\"NUM\">50</field></block></value></block></value><value name=\"STEPS_RIGHT\"><block type=\"math_arithmetic\" id=\"A~(#(]O_(kSZBIc4,yw@\"><field name=\"OP\">MINUS</field><value name=\"A\"><block type=\"variables_get\" id=\"Vuwafvcd/K_ph5^FX:%!\"><field name=\"VAR\" id=\"44C`F*i%?EbRAm0f[}XQ\" variabletype=\"\">line_x_1</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"x$bmhmC2RW9ZOLL7FWHF\"><field name=\"NUM\">50</field></block></value></block></value></block></statement><value name=\"IF1\"><block type=\"logic_compare\" id=\"I)Gu5YQYkX.:()}l^{xg\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"variables_get\" id=\"zCKv1.|-Rios8@h5ilIg\"><field name=\"VAR\" id=\"44C`F*i%?EbRAm0f[}XQ\" variabletype=\"\">line_x_1</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"vJw^%jvK#eR95btK#CeU\"><field name=\"NUM\">40</field></block></value></block></value><statement name=\"DO1\"><block type=\"coderbot_adv_motor\" id=\"w(zj/fW0HsEnX1*u!4O?\"><value name=\"SPEED_LEFT\"><block type=\"math_number\" id=\"y+F~@jqeyB9bS]M=9}J}\"><field name=\"NUM\">-40</field></block></value><value name=\"SPEED_RIGHT\"><block type=\"math_number\" id=\"1/(])B%ubDAdndUnXxg-\"><field name=\"NUM\">40</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"{?IB?(nV;5%Nm_F$1rMX\"><field name=\"NUM\">-1</field></block></value><value name=\"STEPS_LEFT\"><block type=\"math_arithmetic\" id=\";dV0cDAx~my3rojA^G|4\"><field name=\"OP\">MINUS</field><value name=\"A\"><block type=\"math_number\" id=\"o/=rp-ECY@EVjB8FV/0~\"><field name=\"NUM\">50</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"W;jmAc*0%%;8cx.}*jQL\"><field name=\"VAR\" id=\"44C`F*i%?EbRAm0f[}XQ\" variabletype=\"\">line_x_1</field></block></value></block></value><value name=\"STEPS_RIGHT\"><block type=\"math_arithmetic\" id=\"hYIe9z|NuF;9Um0Fk)mu\"><field name=\"OP\">MINUS</field><value name=\"A\"><block type=\"math_number\" id=\"b-Ei9$@yv*bVNNAauA+o\"><field name=\"NUM\">50</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"c?]Gby*%LO[jc{jaa%-9\"><field name=\"VAR\" id=\"44C`F*i%?EbRAm0f[}XQ\" variabletype=\"\">line_x_1</field></block></value></block></value></block></statement><statement name=\"ELSE\"><block type=\"coderbot_adv_motor\" id=\"O.;G[S8aWfdf|`/h*59@\"><value name=\"SPEED_LEFT\"><block type=\"math_number\" id=\"I6+d!/%ONX{B=e8{n0kx\"><field name=\"NUM\">50</field></block></value><value name=\"SPEED_RIGHT\"><block type=\"math_number\" id=\"C*9^tnhIr1`.e{Ts56$Z\"><field name=\"NUM\">50</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"(0,tpOtURC`/@~c2LSVs\"><field name=\"NUM\">-1</field></block></value><value name=\"STEPS_LEFT\"><block type=\"math_number\" id=\"Ka-C|%Y8;GO(qa1sH:XG\"><field name=\"NUM\">150</field></block></value><value name=\"STEPS_RIGHT\"><block type=\"math_number\" id=\"xLy*EHb!}4NrV0`Z-_yZ\"><field name=\"NUM\">150</field></block></value></block></statement></block></statement></block></statement></block></next></block></next></block></next></block></next></block></next></block></statement></block></xml>", "code": "line_x_1 = None\nlista = None\nline_x_list = None\nline_x_2 = None\nar_code = None\nar_code_list = None\n\n\nwhile True:\n get_prog_eng().check_end()\n line_x_list = get_cam().find_line()\n line_x_1 = line_x_list[0]\n ar_code_list = get_cam().find_ar_code().get('codes')\n if not not len(ar_code_list):\n ar_code = ar_code_list[0]\n else:\n ar_code = 0\n get_cam().set_text(ar_code)\n if ar_code == 1:\n get_bot().motor_control(speed_left=80, speed_right=80, elapse=-1, steps_left=1000, steps_right=1000)\n elif ar_code == 2:\n get_bot().motor_control(speed_left=60, speed_right=60, elapse=-1, steps_left=2000, steps_right=1550)\n elif ar_code == 6:\n get_bot().motor_control(speed_left=60, speed_right=60, elapse=-1, steps_left=1550, steps_right=2000)\n else:\n if line_x_1 >= 0:\n if line_x_1 > 60:\n get_bot().motor_control(speed_left=40, speed_right=-40, elapse=-1, steps_left=line_x_1 - 50, steps_right=line_x_1 - 50)\n elif line_x_1 < 40:\n get_bot().motor_control(speed_left=-40, speed_right=40, elapse=-1, steps_left=50 - line_x_1, steps_right=50 - line_x_1)\n else:\n get_bot().motor_control(speed_left=50, speed_right=50, elapse=-1, steps_left=150, steps_right=150)\n", "name": "line_follower"}
\ No newline at end of file
+{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><variables><variable type=\"\" id=\"44C`F*i%?EbRAm0f[}XQ\">line_x_1</variable><variable type=\"\" id=\"BShIh7Dye|p!AtQ`p8wj\">lista</variable><variable type=\"\" id=\"(`T?t~cnldIn9}cU!6P3\">line_x_list</variable><variable type=\"\" id=\"+9O~W5dFyMgb4R9?j?2j\">line_x_2</variable><variable type=\"\" id=\"G;b/=HFbfhuxT|0?~S[r\">ar_code</variable><variable type=\"\" id=\"kOrv]Wo^Y7{4+#7gA`K;\">ar_code_list</variable></variables><block type=\"controls_whileUntil\" id=\"`]WZt9m4:b-6v?sR0a{6\" x=\"9\" y=\"103\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"?g7Pi#[#{_)~?7~!MUL]\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\" id=\"n/Jg4jt-?ANdJFh!U#R}\"><field name=\"VAR\" id=\"(`T?t~cnldIn9}cU!6P3\" variabletype=\"\">line_x_list</field><value name=\"VALUE\"><block type=\"coderbot_adv_findLine\" id=\"|O16NyeI_GMcWz}e#ht9\"></block></value><next><block type=\"variables_set\" id=\"d:T;q-q)7$dJ(@9w7DF=\"><field name=\"VAR\" id=\"44C`F*i%?EbRAm0f[}XQ\" variabletype=\"\">line_x_1</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\"oA1x#4CMYuz}p|KK8e~S\"><mutation statement=\"false\" at=\"false\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FIRST</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"CIJd6?@63y$}V34}.bC-\"><field name=\"VAR\" id=\"(`T?t~cnldIn9}cU!6P3\" variabletype=\"\">line_x_list</field></block></value></block></value><next><block type=\"variables_set\" id=\"S2ieOivJB5(|7?}~us@M\"><field name=\"VAR\" id=\"kOrv]Wo^Y7{4+#7gA`K;\" variabletype=\"\">ar_code_list</field><value name=\"VALUE\"><block type=\"hashmap_get_value\" id=\"tgJS~3PX=0SJTSMlsaVv\"><value name=\"key\"><block type=\"text\" id=\"Wz#h:CVLwyX,^(^kc{B`\"><field name=\"TEXT\">codes</field></block></value><value name=\"map\"><block type=\"coderbot_adv_findARCode\" id=\"9$MM{KjS8lUj}A;=Pr(z\"></block></value></block></value><next><block type=\"controls_if\" id=\"IL@9S#Xl-hRa#LwNvh.g\"><mutation else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_negate\" id=\"XQTF1;SNhjc#]4#_}9wU\"><value name=\"BOOL\"><block type=\"lists_isEmpty\" id=\"b^36mV09/]tRws|?BYoK\"><value name=\"VALUE\"><block type=\"variables_get\" id=\";qp!b+zbymPr{3WAvNrG\"><field name=\"VAR\" id=\"kOrv]Wo^Y7{4+#7gA`K;\" variabletype=\"\">ar_code_list</field></block></value></block></value></block></value><statement name=\"DO0\"><block type=\"variables_set\" id=\"uv4pqKisw(|c:|d/Do%J\"><field name=\"VAR\" id=\"G;b/=HFbfhuxT|0?~S[r\" variabletype=\"\">ar_code</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\"a0JACY?SyTgO21=or@D6\"><mutation statement=\"false\" at=\"false\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FIRST</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"ySld:`sc3M4=IjeN*RuO\"><field name=\"VAR\" id=\"kOrv]Wo^Y7{4+#7gA`K;\" variabletype=\"\">ar_code_list</field></block></value></block></value></block></statement><statement name=\"ELSE\"><block type=\"variables_set\" id=\"/f{XE@50=WxbI;,=TeW]\"><field name=\"VAR\" id=\"G;b/=HFbfhuxT|0?~S[r\" variabletype=\"\">ar_code</field><value name=\"VALUE\"><block type=\"math_number\" id=\"@XV^(en_.lQ0_#rZkz}#\"><field name=\"NUM\">0</field></block></value></block></statement><next><block type=\"text_print\" id=\"{f1ctd/iW#D,le1V(Cy-\"><value name=\"TEXT\"><block type=\"variables_get\" id=\"5VI:=npMdg$L|=e0/Okn\"><field name=\"VAR\" id=\"G;b/=HFbfhuxT|0?~S[r\" variabletype=\"\">ar_code</field></block></value><next><block type=\"controls_if\" id=\"GvDQg$7WT=Qq6HBCexdf\"><mutation elseif=\"2\" else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\")M6ls=nOUTB^J;|3-Q@=\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"Y9PB[dJ*r*.*=2([@JT:\"><field name=\"VAR\" id=\"G;b/=HFbfhuxT|0?~S[r\" variabletype=\"\">ar_code</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"e`kkA/p8dDJT4Iu`PtP|\"><field name=\"NUM\">1</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_motor\" id=\"mM!-gOyoBb8xLuEK}:PY\"><value name=\"SPEED_LEFT\"><block type=\"math_number\" id=\"MV9CvsB9cK7#oJv5M+Gy\"><field name=\"NUM\">80</field></block></value><value name=\"SPEED_RIGHT\"><block type=\"math_number\" id=\"@I!w63)Db*b!^mzk?7b-\"><field name=\"NUM\">80</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"xz=GX~R6!L1Lz?RO%xSE\"><field name=\"NUM\">-1</field></block></value><value name=\"STEPS_LEFT\"><block type=\"math_number\" id=\"nSLX(4#c?i({f6gx}h$b\"><field name=\"NUM\">1000</field></block></value><value name=\"STEPS_RIGHT\"><block type=\"math_number\" id=\"3C{Tr^vc`K1K7@whf0+#\"><field name=\"NUM\">1000</field></block></value></block></statement><value name=\"IF1\"><block type=\"logic_compare\" id=\"0[pEKb#+c1ukccsj-HGU\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"!.x!ti5!Jl_Qyi_98vP:\"><field name=\"VAR\" id=\"G;b/=HFbfhuxT|0?~S[r\" variabletype=\"\">ar_code</field></block></value><value name=\"B\"><block type=\"math_number\" id=\":Omnr1TfVKRT,{x+CErC\"><field name=\"NUM\">2</field></block></value></block></value><statement name=\"DO1\"><block type=\"coderbot_adv_motor\" id=\"^@Y|H7}/,1f%m;D)rsqN\"><value name=\"SPEED_LEFT\"><block type=\"math_number\" id=\"tpQfUU_t1N9uX9DDLpNK\"><field name=\"NUM\">60</field></block></value><value name=\"SPEED_RIGHT\"><block type=\"math_number\" id=\"X__|/-/MQqilOsxKk.Vn\"><field name=\"NUM\">60</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"sUK%h7;p?NFy6ej0G@ad\"><field name=\"NUM\">-1</field></block></value><value name=\"STEPS_LEFT\"><block type=\"math_number\" id=\"55Q_(wsMzLOOTn,AJ*=o\"><field name=\"NUM\">2000</field></block></value><value name=\"STEPS_RIGHT\"><block type=\"math_number\" id=\"Q(U)4jCVk5tml,K%_m3X\"><field name=\"NUM\">1550</field></block></value></block></statement><value name=\"IF2\"><block type=\"logic_compare\" id=\"-.]jhYzu{)[`q?J|G*@i\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"TYK1ggBo;v^8(fzNK!PO\"><field name=\"VAR\" id=\"G;b/=HFbfhuxT|0?~S[r\" variabletype=\"\">ar_code</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"D2;EP}Ok0vx,}R7Te.[g\"><field name=\"NUM\">6</field></block></value></block></value><statement name=\"DO2\"><block type=\"coderbot_adv_motor\" id=\"FWt]Cn.Gx+x%y|4TMq*/\"><value name=\"SPEED_LEFT\"><block type=\"math_number\" id=\"PN3gP4:wymcc7g[G,=JC\"><field name=\"NUM\">60</field></block></value><value name=\"SPEED_RIGHT\"><block type=\"math_number\" id=\"$svZ(tsG{Q]%-=QakU@7\"><field name=\"NUM\">60</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"IxJ8gaf@V.5xrl3X3yu0\"><field name=\"NUM\">-1</field></block></value><value name=\"STEPS_LEFT\"><block type=\"math_number\" id=\"1hpVYp0#go4@HCi%[MZ`\"><field name=\"NUM\">1550</field></block></value><value name=\"STEPS_RIGHT\"><block type=\"math_number\" id=\"ZuV9iU47evPA,S7J?s+@\"><field name=\"NUM\">2000</field></block></value></block></statement><statement name=\"ELSE\"><block type=\"controls_if\" id=\"]Xst$#BXb%U~.5?C5fN1\"><value name=\"IF0\"><block type=\"logic_compare\" id=\"PD.BkyibEtTX2,VtMdsc\"><field name=\"OP\">GTE</field><value name=\"A\"><block type=\"variables_get\" id=\"UWRm7PH[oi_n9oQsRDGd\"><field name=\"VAR\" id=\"44C`F*i%?EbRAm0f[}XQ\" variabletype=\"\">line_x_1</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"V1b;v7$b+m#/u;2dm6H$\"><field name=\"NUM\">0</field></block></value></block></value><statement name=\"DO0\"><block type=\"controls_if\" id=\",?`$EcLs;XYj{O%B$A~o\"><mutation elseif=\"1\" else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"0WmrG/knZBBpiHSDmLBJ\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"variables_get\" id=\"%amYL^tWO^t8nX`JBAEF\"><field name=\"VAR\" id=\"44C`F*i%?EbRAm0f[}XQ\" variabletype=\"\">line_x_1</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"hIduK@,Vwz{H?bp[WPjj\"><field name=\"NUM\">60</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_motor\" id=\";vD-YiW9)qU8sg-}vcm1\"><value name=\"SPEED_LEFT\"><block type=\"math_number\" id=\"((}~wa#@9K8b}RS#DSq?\"><field name=\"NUM\">40</field></block></value><value name=\"SPEED_RIGHT\"><block type=\"math_number\" id=\":,f0J=^9v|J$I;5Ahy|K\"><field name=\"NUM\">-40</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"L48OY[hxw|)quL7-vkb^\"><field name=\"NUM\">-1</field></block></value><value name=\"STEPS_LEFT\"><block type=\"math_arithmetic\" id=\"Upl0F:r{a0y5cdS.crj)\"><field name=\"OP\">MINUS</field><value name=\"A\"><block type=\"variables_get\" id=\"oS=EnUt$f^C5Vj!8|9C8\"><field name=\"VAR\" id=\"44C`F*i%?EbRAm0f[}XQ\" variabletype=\"\">line_x_1</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"7~z_5vl91w!1jP(k.(Qd\"><field name=\"NUM\">50</field></block></value></block></value><value name=\"STEPS_RIGHT\"><block type=\"math_arithmetic\" id=\"A~(#(]O_(kSZBIc4,yw@\"><field name=\"OP\">MINUS</field><value name=\"A\"><block type=\"variables_get\" id=\"Vuwafvcd/K_ph5^FX:%!\"><field name=\"VAR\" id=\"44C`F*i%?EbRAm0f[}XQ\" variabletype=\"\">line_x_1</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"x$bmhmC2RW9ZOLL7FWHF\"><field name=\"NUM\">50</field></block></value></block></value></block></statement><value name=\"IF1\"><block type=\"logic_compare\" id=\"I)Gu5YQYkX.:()}l^{xg\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"variables_get\" id=\"zCKv1.|-Rios8@h5ilIg\"><field name=\"VAR\" id=\"44C`F*i%?EbRAm0f[}XQ\" variabletype=\"\">line_x_1</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"vJw^%jvK#eR95btK#CeU\"><field name=\"NUM\">40</field></block></value></block></value><statement name=\"DO1\"><block type=\"coderbot_adv_motor\" id=\"w(zj/fW0HsEnX1*u!4O?\"><value name=\"SPEED_LEFT\"><block type=\"math_number\" id=\"y+F~@jqeyB9bS]M=9}J}\"><field name=\"NUM\">-40</field></block></value><value name=\"SPEED_RIGHT\"><block type=\"math_number\" id=\"1/(])B%ubDAdndUnXxg-\"><field name=\"NUM\">40</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"{?IB?(nV;5%Nm_F$1rMX\"><field name=\"NUM\">-1</field></block></value><value name=\"STEPS_LEFT\"><block type=\"math_arithmetic\" id=\";dV0cDAx~my3rojA^G|4\"><field name=\"OP\">MINUS</field><value name=\"A\"><block type=\"math_number\" id=\"o/=rp-ECY@EVjB8FV/0~\"><field name=\"NUM\">50</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"W;jmAc*0%%;8cx.}*jQL\"><field name=\"VAR\" id=\"44C`F*i%?EbRAm0f[}XQ\" variabletype=\"\">line_x_1</field></block></value></block></value><value name=\"STEPS_RIGHT\"><block type=\"math_arithmetic\" id=\"hYIe9z|NuF;9Um0Fk)mu\"><field name=\"OP\">MINUS</field><value name=\"A\"><block type=\"math_number\" id=\"b-Ei9$@yv*bVNNAauA+o\"><field name=\"NUM\">50</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"c?]Gby*%LO[jc{jaa%-9\"><field name=\"VAR\" id=\"44C`F*i%?EbRAm0f[}XQ\" variabletype=\"\">line_x_1</field></block></value></block></value></block></statement><statement name=\"ELSE\"><block type=\"coderbot_adv_motor\" id=\"O.;G[S8aWfdf|`/h*59@\"><value name=\"SPEED_LEFT\"><block type=\"math_number\" id=\"I6+d!/%ONX{B=e8{n0kx\"><field name=\"NUM\">50</field></block></value><value name=\"SPEED_RIGHT\"><block type=\"math_number\" id=\"C*9^tnhIr1`.e{Ts56$Z\"><field name=\"NUM\">50</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"(0,tpOtURC`/@~c2LSVs\"><field name=\"NUM\">-1</field></block></value><value name=\"STEPS_LEFT\"><block type=\"math_number\" id=\"Ka-C|%Y8;GO(qa1sH:XG\"><field name=\"NUM\">150</field></block></value><value name=\"STEPS_RIGHT\"><block type=\"math_number\" id=\"xLy*EHb!}4NrV0`Z-_yZ\"><field name=\"NUM\">150</field></block></value></block></statement></block></statement></block></statement></block></next></block></next></block></next></block></next></block></next></block></statement></block></xml>", "code": "line_x_1 = None\nlista = None\nline_x_list = None\nline_x_2 = None\nar_code = None\nar_code_list = None\n\n\nwhile True:\n get_prog_eng().check_end()\n line_x_list = get_cam().find_line()\n line_x_1 = line_x_list[0]\n ar_code_list = get_cam().find_ar_code().get('codes')\n if not not len(ar_code_list):\n ar_code = ar_code_list[0]\n else:\n ar_code = 0\n get_cam().set_text(ar_code)\n if ar_code == 1:\n get_bot().motor_control(speed_left=80, speed_right=80, elapse=-1, steps_left=1000, steps_right=1000)\n elif ar_code == 2:\n get_bot().motor_control(speed_left=60, speed_right=60, elapse=-1, steps_left=2000, steps_right=1550)\n elif ar_code == 6:\n get_bot().motor_control(speed_left=60, speed_right=60, elapse=-1, steps_left=1550, steps_right=2000)\n else:\n if line_x_1 >= 0:\n if line_x_1 > 60:\n get_bot().motor_control(speed_left=40, speed_right=-40, elapse=-1, steps_left=line_x_1 - 50, steps_right=line_x_1 - 50)\n elif line_x_1 < 40:\n get_bot().motor_control(speed_left=-40, speed_right=40, elapse=-1, steps_left=50 - line_x_1, steps_right=50 - line_x_1)\n else:\n get_bot().motor_control(speed_left=50, speed_right=50, elapse=-1, steps_left=150, steps_right=150)\n", "name": "demo_line_follower"}
\ No newline at end of file
diff --git a/defaults/programs/program_demo_roboetologist.json b/defaults/programs/program_demo_roboetologist.json
index b53ba7e2..71f717b8 100644
--- a/defaults/programs/program_demo_roboetologist.json
+++ b/defaults/programs/program_demo_roboetologist.json
@@ -1 +1 @@
-{"name":"roboetologia","dom_code":"<xml xmlns=\"https://developers.google.com/blockly/xml\"><variables><variable id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</variable><variable id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</variable><variable id=\"8|Zzym8yh{-PoN!=cEIq\">var_marciaIndietro</variable><variable id=\"k0;Q7iBn,I9wGXMH?}Do\">var_giravolte</variable><variable id=\"]o~;Yi%sgc~I2zpMw@#p\">var_ritirata</variable><variable id=\"}Amjkrp!.(7[D41[a^{6\">velocita</variable><variable id=\";M|:6*RIcl{fLp+^(S~p\">stanco</variable></variables><block type=\"procedures_defnoreturn\" id=\"!]5:R,96H,d*lP5TdKtv\" x=\"32\" y=\"-248\"><field name=\"NAME\">Scodinzola</field><comment pinned=\"false\" h=\"80\" w=\"160\">Descrivi questa funzione...</comment><statement name=\"STACK\"><block type=\"controls_repeat_ext\" id=\"$@148i!0XDrE)=/74E,F\"><value name=\"TIMES\"><block type=\"math_number\" id=\"Z|tRJT3et)`/%nF;x|BX\"><field name=\"NUM\">3</field></block></value><statement name=\"DO\"><block type=\"coderbot_adv_move\" id=\"ICVMx1}4##d{B2;1_0yw\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"YOER#;}9h-EjO#NWK$-r\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"c)2=ZX:s9Pu=6_!gAznZ\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"OkO@z~w=AGqzQZu357hr\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"`1Tkh_x5G03,$gK8[7`W\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"6k^]W@IDw;E{I)B2[vF[\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"r3grvcve;,ycs9O{$Z(`\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"KIT-F0Ks@@7mYljTMX}a\"><field name=\"NUM\">0.3</field></block></value><next><block type=\"coderbot_sleep\" id=\"8HSK*.y3si%z:5X:X}Cf\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"_JMB)UTj(N=+rh}WJ1gM\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"I!%c5zbo7`I8H8pPUGmi\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value><next><block type=\"coderbot_adv_move\" id=\"=G4VJm2R._wOHz%QTKGH\"><field name=\"ACTION\">LEFT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"sE)S[)9b8GYNM/}A?Q?a\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"th7m{buvj!fXr2[L}rdj\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"tD5onaW9m}8|$[!eMBlT\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"UI8*HDp}`l@z/mNCX#%h\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"?;j;(@*sHEBLK;FT9Snq\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"xm4O$9/uD/DtLEFUuc:H\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"C.gRCR/O:%1W,h%jxJQz\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"P@A2tlSC:EM}cZ{1qJOm\"><field name=\"NUM\">0.5</field></block></value><next><block type=\"coderbot_sleep\" id=\"4^Vbi3$0bgFj([_q#a)!\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"gfVNt(aQi}BuKUSFJ.3:\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"s@*_u8JqM`F^;vK{O*_0\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value><next><block type=\"coderbot_adv_move\" id=\"obZReNmla70EZtJwNI$8\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"IEU%gc|cb25NDN1pDPM*\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"{*bj!1W#x3tx!SeWj:kT\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"DaVdvC(WkUw{D:y*?4F6\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\".$SS=6=p56*%bV+0d!UP\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"~~F31]H,M#iZIBu-hpHt\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"S6tUIN@%q%t{Hz2ddE-{\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\".dOMH{.fxW#:}@%b#)JX\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"ZGo9-9/V=n8K.l-Ukk@h\"><field name=\"NUM\">0.3</field></block></value><next><block type=\"coderbot_sleep\" id=\"NK1usFSpUZ,JP33u=3#d\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"?f-Y1{[eyW,FRqS=Wjo$\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"]yMj3IsqdH!-7(8Cvk[U\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value></block></next></block></next></block></next></block></next></block></next></block></statement></block></statement></block><block type=\"procedures_defnoreturn\" id=\"eAhV_z+X]idI9Y2#)$n(\" x=\"1037\" y=\"-296\"><field name=\"NAME\">Evita_Ostacoli</field><comment pinned=\"false\" h=\"80\" w=\"160\">Descrivi questa funzione...</comment><statement name=\"STACK\"><block type=\"controls_repeat_ext\" id=\"@c#NwB$D7537*F7m=!(7\"><value name=\"TIMES\"><shadow type=\"math_number\" id=\"YMSS!*wG*F@i;BhUmTE`\"><field name=\"NUM\">15</field></shadow></value><statement name=\"DO\"><block type=\"controls_if\" id=\"X*#hoa)#P0K0YxbKTgIs\"><mutation elseif=\"2\" else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"Otlt5#y}Bm[e5ta5;YxY\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"coderbot_sonar_get_distance\" id=\"ssLQq~!Drc._YB6B-d3S\"><field name=\"SONAR\">0</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"eH-VJ17iCGoZyj+UEq:}\"><field name=\"NUM\">20</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\" id=\"trpdU@xT,u;^uH#kGc;f\"><field name=\"ACTION\">BACKWARD</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"HcmX([S/=AKRH4R8$I0B\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"/rWP6rW9R]E3-naWqgJb\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\".t[s{j8IX2vxW-3BN:mY\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"Fb`JpvO.k6Tc7[f,$O$v\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"$l?U4w3[2%qk..:nTePo\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"8Ifz1evG3eDtpQLtQGl9\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"iS!-;G+snS)ML@1l1*P%\"><field name=\"NUM\">0.5</field></block></value><next><block type=\"coderbot_sleep\" id=\"/vCSdFhWoJq}Z~+GZv@B\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"x)rjS0}jg(awX7.?Vw6}\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"nkX`O8.7pQ/nRXu}}SJ=\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value><next><block type=\"coderbot_adv_move\" id=\"lzJKDW53E#N;!A;c=C@_\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"PA|Q|jw0.1~mrO$9Q%P;\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"G|iI)YzX$qKo3I+17OnJ\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"I.S?k*]?]8:ux2At*LJ1\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"CXKnQkB)^Mp8+FB%/Kq}\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"Xe+Rt?_8u.vO?W@ZWs2-\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"j4=;9]Ka!u+7?MAJPGh?\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"YTc?Tsq{XFq({Kc.X:l2\"><field name=\"NUM\">0.5</field></block></value><next><block type=\"coderbot_sleep\" id=\"~D0glLe($lFOxGCVt({`\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"k=7sJ/UX#,{!dlpX;H`6\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"6%wD3wHrc$f(?}Bq)28s\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value></block></next></block></next></block></next></block></statement><value name=\"IF1\"><block type=\"logic_compare\" id=\"i374]E^am-M6uyS?-gKC\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"coderbot_sonar_get_distance\" id=\"Xp?Z4ev2ys-O`aN-$WNL\"><field name=\"SONAR\">1</field></block></value><value name=\"B\"><block type=\"math_number\" id=\",2c5e_Y3:j:T[liXjo{l\"><field name=\"NUM\">20</field></block></value></block></value><statement name=\"DO1\"><block type=\"coderbot_adv_move\" id=\"Am`s@r3LgvQtrS1TL57q\"><field name=\"ACTION\">LEFT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"~prj;Zl(AJ|,`oeCCf-,\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"DcI1#yBE~@moiU6YAv#x\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"j`G2K]gZRIV)]2.7dzG9\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"]wDU`;H3W8![o1a2fzk1\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"3/hwsno_gvMwqLT_mgV!\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"/5eh,CVTRpqcb/s5{R5H\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"8t@}mCD~^YNfqoRxQJl%\"><field name=\"NUM\">0.5</field></block></value><next><block type=\"coderbot_sleep\" id=\"]/3=*vM9ken$o-O1f~fV\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"*SfrgoD6pBdYTZcV!|0b\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"WPe.SW;HHIq|eAB`,BJ`\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value></block></next></block></statement><value name=\"IF2\"><block type=\"logic_compare\" id=\"Oi)HJ7[XQLUo?9Ja,p{i\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"coderbot_sonar_get_distance\" id=\"VX/j*WrI[j^f/|ei-f:(\"><field name=\"SONAR\">2</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"J=/3jvhaq=%R42539s$D\"><field name=\"NUM\">20</field></block></value></block></value><statement name=\"DO2\"><block type=\"coderbot_adv_move\" id=\"Yw+`{06m}q=Xy[hpZc--\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"/^l1V(M*RdBL=xaqy1tq\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"m_d8qZ${$Q]1dgRC9kg1\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"P1aDE;avAT65i|PhY=-2\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"rv=.e$[u+4J|wpmE!WWc\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"=72b0Fu=xSqlre+0P==V\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\",=w/soAS//gtuY7.MR1L\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"HM%|wVB7+V~p-IL[*AR^\"><field name=\"NUM\">0.5</field></block></value><next><block type=\"coderbot_sleep\" id=\"yJFCwyQPE5=?0r/~vamL\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"5W!KOp9GS.b=}L5otZuU\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"^omY,%{F`GV!pDo}yZrv\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value></block></next></block></statement><statement name=\"ELSE\"><block type=\"coderbot_adv_move\" id=\":l(I1S51$*1Y1BPm^@/w\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"SHq.(.XcZ}7M,l8RC_c@\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"w7#zA8o]]XpeNtS=VD-:\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"J9Igw@@/VH.K__Yl)@~p\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"Uo@*[cy$0q1dgsf#Q^z-\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"tb~[WgJ9A+?zO!3y}p;U\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"`}JdE]gqQ@ZY1w]uW%5C\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"GHLs)siSUy|OQqqr3dIo\"><field name=\"NUM\">0.5</field></block></value><next><block type=\"coderbot_sleep\" id=\"LcaW`EM+]Jb=X?I[;JSB\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"`tVVItwfg.HfaD1gzB=:\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"aBw0-LWH!FA$beTy(Zhv\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value></block></next></block></statement></block></statement></block></statement></block><block type=\"variables_set\" id=\"i9a!EM@s`-6hUdv$sr@3\" x=\"-546\" y=\"-188\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field><value name=\"VALUE\"><block type=\"math_number\" id=\"^=8DhFn=]2Efwc(|OkiD\"><field name=\"NUM\">0.2</field></block></value><next><block type=\"variables_set\" id=\"zjzJg@NAQU,k/!!@n5,*\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field><value name=\"VALUE\"><block type=\"math_number\" id=\"nDs=tH{gKK+fBi0-bA/_\"><field name=\"NUM\">80</field></block></value><next><block type=\"variables_set\" id=\"uD3I^ll~9L#obOA^SI!0\"><field name=\"VAR\" id=\"8|Zzym8yh{-PoN!=cEIq\">var_marciaIndietro</field><value name=\"VALUE\"><block type=\"math_number\" id=\"~G:^Vj.oE0(OO]ZP3Vcn\"><field name=\"NUM\">0</field></block></value><next><block type=\"variables_set\" id=\"Obn8q0fElL9mB(i|1]5[\"><field name=\"VAR\" id=\"k0;Q7iBn,I9wGXMH?}Do\">var_giravolte</field><value name=\"VALUE\"><block type=\"math_number\" id=\"H!=muFCqUw/I?)IGAUt|\"><field name=\"NUM\">0</field></block></value><next><block type=\"variables_set\" id=\"I/mn7F@$p-}4[H4_SBqY\"><field name=\"VAR\" id=\"]o~;Yi%sgc~I2zpMw@#p\">var_ritirata</field><value name=\"VALUE\"><block type=\"math_number\" id=\"*azH8=DJtBx-pQwu4|V6\"><field name=\"NUM\">0</field></block></value><next><block type=\"variables_set\" id=\"tEC)Up7J)~4{(Dz1[lCj\"><field name=\"VAR\" id=\";M|:6*RIcl{fLp+^(S~p\">stanco</field><value name=\"VALUE\"><block type=\"math_number\" id=\"E%Tw$~W4?sv.fNIxv0Ma\"><field name=\"NUM\">0</field></block></value><next><block type=\"variables_set\" id=\"x4jFKBKS^fdsk#T.U7Z!\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field><value name=\"VALUE\"><block type=\"math_number\" id=\"6ZiB~3h3aO3z5)_kg[zG\"><field name=\"NUM\">1</field></block></value><next><block type=\"controls_whileUntil\" id=\"-yfR%N=ZA:dr/vf[$_Y+\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"H@,=TqL*XM3|6M}Z:3+C\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"math_change\" id=\"1%fq4KBED@gkjP~jlRMk\"><field name=\"VAR\" id=\";M|:6*RIcl{fLp+^(S~p\">stanco</field><value name=\"DELTA\"><block type=\"math_number\" id=\";S+Wfd9n5g26eOE9EngY\"><field name=\"NUM\">1</field></block></value><next><block type=\"math_change\" id=\"f-`F7YcK2uSF1[N^tPM{\"><field name=\"VAR\" id=\"8|Zzym8yh{-PoN!=cEIq\">var_marciaIndietro</field><value name=\"DELTA\"><shadow type=\"math_number\" id=\"{gD@*ayDq5d6tMw(2Kbc\"><field name=\"NUM\">1</field></shadow></value><next><block type=\"math_change\" id=\"dS?rG_[64b{_2vBnB^QM\"><field name=\"VAR\" id=\"k0;Q7iBn,I9wGXMH?}Do\">var_giravolte</field><value name=\"DELTA\"><shadow type=\"math_number\" id=\"dkbf0gA|c8o0Cm=!@gQT\"><field name=\"NUM\">1</field></shadow></value><next><block type=\"math_change\" id=\"`)S8h1qAw*?jy*ixY}u+\"><field name=\"VAR\" id=\"]o~;Yi%sgc~I2zpMw@#p\">var_ritirata</field><value name=\"DELTA\"><shadow type=\"math_number\" id=\"1L=-j:W;2d`s1`:q.su~\"><field name=\"NUM\">1</field></shadow></value><next><block type=\"controls_if\" id=\"S!3#D%1@0YM^;{sm}Q.k\"><mutation elseif=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"/dnfv--t9_A=(06arGX$\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"/}JP!cseKId$umH4~#!d\"><field name=\"VAR\" id=\";M|:6*RIcl{fLp+^(S~p\">stanco</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"9WL24mxLME}qFQWRype$\"><field name=\"NUM\">5</field></block></value></block></value><statement name=\"DO0\"><block type=\"variables_set\" id=\"~_/s2uIq9S6k56j~CVA#\"><field name=\"VAR\" id=\";M|:6*RIcl{fLp+^(S~p\">stanco</field><value name=\"VALUE\"><block type=\"math_number\" id=\"YjfWxc5Q+w#]Da0z;@@s\"><field name=\"NUM\">0</field></block></value><next><block type=\"variables_set\" id=\"@Z/po(O(J`O{*FUL?#%K\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field><value name=\"VALUE\"><block type=\"math_number\" id=\"jmeKZm8wIKG-As_[L%t4\"><field name=\"NUM\">1</field></block></value></block></next></block></statement><value name=\"IF1\"><block type=\"logic_compare\" id=\"E@jRA2fJ},Gr}awmmspH\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"variables_get\" id=\"|RNUw6)n!:kvhSz]2of^\"><field name=\"VAR\" id=\";M|:6*RIcl{fLp+^(S~p\">stanco</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"Q@W~I[!UTRLrFCi:+4D4\"><field name=\"NUM\">3</field></block></value></block></value><statement name=\"DO1\"><block type=\"variables_set\" id=\"TX2klHO#QS96(-b;oxdw\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field><value name=\"VALUE\"><block type=\"math_number\" id=\"}5,MJoA8{Gp/tD?@oBQq\"><field name=\"NUM\">0.5</field></block></value></block></statement><next><block type=\"procedures_callnoreturn\" id=\"k`=DiML{Ev{}a{|`u#r^\"><mutation name=\"Scodinzola\"></mutation><next><block type=\"procedures_callnoreturn\" id=\":ye0=GgRvJ|3|S7-:50(\"><mutation name=\"Evita_Ostacoli\"></mutation><next><block type=\"procedures_callnoreturn\" id=\"`QMv)mRAiqx$_MAPiJ#(\"><mutation name=\"Patugliamento\"></mutation><next><block type=\"controls_if\" id=\"BlK3e^r83~^p3h*QJQB(\"><value name=\"IF0\"><block type=\"logic_compare\" id=\"N`FCfoA4|6B]gmd@$Dno\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"9ryL2^n0LI=Njn!yDEHO\"><field name=\"VAR\" id=\"]o~;Yi%sgc~I2zpMw@#p\">var_ritirata</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"-FitrZK{v?e%Bl96c?t[\"><field name=\"NUM\">4</field></block></value></block></value><statement name=\"DO0\"><block type=\"variables_set\" id=\"oE:q?4%-V6J,QS}AjzFy\"><field name=\"VAR\" id=\"]o~;Yi%sgc~I2zpMw@#p\">var_ritirata</field><value name=\"VALUE\"><block type=\"math_number\" id=\"b775EElpGb*z4nrauX3b\"><field name=\"NUM\">0</field></block></value><next><block type=\"procedures_callnoreturn\" id=\"`hI(00uN;R!C0:4FyTci\"><mutation name=\"Ritirata_e_fuga\"></mutation></block></next></block></statement><next><block type=\"controls_if\" id=\"?p]@;Dl*R1%(/PQ!=dWJ\"><value name=\"IF0\"><block type=\"logic_compare\" id=\"@MV6{HWJdTLo1usYNV2W\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"G56lN%n(%*qfMbha3fjO\"><field name=\"VAR\" id=\"k0;Q7iBn,I9wGXMH?}Do\">var_giravolte</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"@]`ZuP~Ps,dfw9u7_/]~\"><field name=\"NUM\">8</field></block></value></block></value><statement name=\"DO0\"><block type=\"variables_set\" id=\")Q=MM=wJix8:e}3t!6p8\"><field name=\"VAR\" id=\"k0;Q7iBn,I9wGXMH?}Do\">var_giravolte</field><value name=\"VALUE\"><block type=\"math_number\" id=\"x7=CztX|VrM#X=PCQA2[\"><field name=\"NUM\">0</field></block></value><next><block type=\"procedures_callnoreturn\" id=\"DTy{!1~CoWr@ee?Sa;-@\"><mutation name=\"Giravolte\"></mutation></block></next></block></statement><next><block type=\"coderbot_sleep\" id=\"88T*(,r#Vj@:5zDE9tEO\"><value name=\"ELAPSE\"><block type=\"math_number\" id=\"42a6{m0y}CCt=]AHjj`6\"><field name=\"NUM\">5</field></block></value><next><block type=\"controls_if\" id=\"?5V^l6nIq)IysusCwzDR\"><value name=\"IF0\"><block type=\"logic_compare\" id=\",Fqr6N)B(p0}6{`5cj@!\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"pOVIS4*1q_5EkuSnmj5O\"><field name=\"VAR\" id=\"8|Zzym8yh{-PoN!=cEIq\">var_marciaIndietro</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"V_L}xISG;/(yv+LDAq?C\"><field name=\"NUM\">6</field></block></value></block></value><statement name=\"DO0\"><block type=\"variables_set\" id=\"!rUQPht{;fn5,B39fxcB\"><field name=\"VAR\" id=\"8|Zzym8yh{-PoN!=cEIq\">var_marciaIndietro</field><value name=\"VALUE\"><block type=\"math_number\" id=\"3KIWSuuWoCFaux|K`2GK\"><field name=\"NUM\">0</field></block></value><next><block type=\"procedures_callnoreturn\" id=\"=}BrOn/{1I*_k%*4~pC+\"><mutation name=\"MarciaIndietro_e_Scarto\"></mutation></block></next></block></statement></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></statement></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block><block type=\"procedures_defnoreturn\" id=\"Wph:,`b9y/Qr@m#qVKh8\" x=\"105\" y=\"236\"><field name=\"NAME\">Giravolte</field><comment pinned=\"false\" h=\"80\" w=\"160\">Descrivi questa funzione...</comment><statement name=\"STACK\"><block type=\"coderbot_adv_move\" id=\"){(:UQ%yk$)1o1Pguk9S\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"c5hzzlx2+eA%touCb]1`\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"lydvF$Ej,y;~N7Po7)o*\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"]9^qO6wW.}1C+h$MbiDE\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"|HP$c2sw0L^tzXq-fLy(\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"#wD6$fKI/W:^T0,9*{8.\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"i*Zleg*v;rpIcG.i7(J:\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"]EVJ2A)5rU){Yqlll0@p\"><field name=\"NUM\">2</field></block></value><next><block type=\"coderbot_sleep\" id=\"d.86;#zvChlP=wxiRYK{\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"wHB]k#o@Np$i#8^9apv!\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"Rde:F#~+L06azq2tVyD-\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value></block></next></block></statement></block><block type=\"procedures_defnoreturn\" id=\"#Lt]PDTBgL/]Mr,,RwFk\" x=\"31\" y=\"400\"><field name=\"NAME\">Patugliamento</field><comment pinned=\"false\" h=\"80\" w=\"160\">Descrivi questa funzione...</comment><statement name=\"STACK\"><block type=\"controls_repeat_ext\" id=\"zU:(eaKOX8bwg|@q)l/x\"><value name=\"TIMES\"><block type=\"math_number\" id=\"yzK?W9/:u/?TIb)n`E{l\"><field name=\"NUM\">3</field></block></value><statement name=\"DO\"><block type=\"coderbot_adv_move\" id=\"%k|)9QK~_+#YJ[i]f(^|\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"~_wpvFs,tj:4ZSU!6cmI\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"!qKX^lFR%49P+$0r%N;6\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"W0F$EFUx8!vMe|8,m`e)\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"8TVs2lFlm;#yzBe6_g9]\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"YHo$W[}K#~s[ir9kNv)_\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"u)Hj]9kY}4_a.DRL@rG?\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"y4w)^60I$wv3fB6T@Gbj\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_sleep\" id=\"5Bfgw2kcW($A8vSHtir.\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"*!VdE}A-vb2YZ-a^p06D\"><field name=\"NUM\">0.5</field></shadow></value></block></next></block></statement></block></statement></block><block type=\"procedures_defnoreturn\" id=\"k).IYZ!#sHk(8noL0i@l\" x=\"-93\" y=\"642\"><field name=\"NAME\">Ritirata_e_fuga</field><comment pinned=\"false\" h=\"80\" w=\"160\">Descrivi questa funzione...</comment><statement name=\"STACK\"><block type=\"coderbot_adv_move\" id=\"[~BG$Oi=L4ZH@MEvOEtV\"><field name=\"ACTION\">BACKWARD</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"?RuLhTzie::^EqgHxS)x\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"{o8]MWs*L7Xm(10NerE`\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"%F|VO,DV~}UHb:@|C2p-\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"c[;21(SABvfs)G)|4x^Z\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"Lb_3Nu2HTBW9gtaA8D+`\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"yst;fA`Z%rps/:1!a:v?\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"a_?(=WI*yG|Qw@p0#tcq\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_sleep\" id=\"Pp)@[psXrpWB%/nL5}Vc\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"rEx#9(2@Z%N`|DnWh+an\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"o7B~om;.tZrb6@p)?EKY\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value><next><block type=\"coderbot_adv_move\" id=\"PR|@J[;x$lCEM(4:.S(~\"><field name=\"ACTION\">LEFT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"f)~FYQvG=f/)C9n|kusd\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"^O.!+5/K#K!T#OZds3gz\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"v|f3Q5~D0I.k*to]}=vH\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"~egc|sz;b2=r#9h;O:F/\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"qRJL!80G9IL_?@PGQV$r\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"pfLThV)s=gML_k3{I5jV\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"]}Uj)tHeUYGo]lc^$yL+\"><field name=\"NUM\">3</field></block></value><next><block type=\"coderbot_sleep\" id=\"=%5988mlKNB(RjC0Ua^d\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"E~M696!a~}o-oXq1E]3x\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\":.J$pq2!m5|F4+^*qXiF\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value><next><block type=\"coderbot_adv_move\" id=\",5-k}T[BoGUuJt=#q8y/\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"Gw-[#MNK.kb(Pk+@oyR}\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"$:{Ytk.}NMv*^1k:*j+d\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"gMg4F/eD[6_*An+0N#1Y\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"IGeI6gf.7_tJ;uxoau+V\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"^yf:cE[2SnCjF6M7rKU~\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"mTnh,E_(RE`3L)j2;|s3\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"l+Ck2grV#HM3.7N!xIzk\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_sleep\" id=\"D|Zu+_W_#Hecykew]HjB\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"Y(D;RDGx-_?vUoP@{E|S\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"_J~jub1fQ$0.7h}aRX9#\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value></block></next></block></next></block></next></block></next></block></next></block></statement></block><block type=\"procedures_defnoreturn\" id=\"C2,|x88yVW6)$C|.Z[fn\" x=\"869\" y=\"650\"><field name=\"NAME\">MarciaIndietro_e_Scarto</field><comment pinned=\"false\" h=\"80\" w=\"160\">Descrivi questa funzione...</comment><statement name=\"STACK\"><block type=\"coderbot_adv_move\" id=\"io(!A$V*Tw58pI}^6_YY\"><field name=\"ACTION\">BACKWARD</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\":[u[8j)-^u#O^k`vIU9L\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"q2_I$}9a~5hZ4}@#`$^_\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"Y.`7b`52G9cmcxW?%3wl\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"hCC*}yGz5:h}h6dMwS!y\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"|m-nKgik@#(Y#zPfqU=,\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"`v-dkUixI3E=wr_G(!Ps\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"rRihLI!yF)H~N-qDFQz`\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_sleep\" id=\"f)]lI*iZwr2k$/-,OJ09\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"S#Y;lv?GQsDc7Za1uD^+\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"%~G.hJ0_bq{H8p(^LE-1\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value><next><block type=\"coderbot_adv_move\" id=\"n[LcL!+Xt9y6roV{2Z*[\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"QS=:BWqYG)%$)mU78~kQ\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"3||`T0aFosR5VFJaXS#I\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"LsMIWEV,WsfUY5KF]PVY\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"Q@KPVYLIp2/|i/R/4?EZ\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"XdKC2u$Zz`AzvrUT/3]z\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"wu#EubUV3Ic$jo)%{UzR\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"53`z:pDpu+~Sv3~`N-G~\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_sleep\" id=\"!rX}?uvL2bjbK+8xT_QY\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"/2aHV}CkHtI*dAV{sSM/\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"BOQ!ur6NR+#^~sk}YB)D\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value></block></next></block></next></block></next></block></statement></block></xml>","code":"from numbers import Number\n\nattesa = None\nvelocita_max = None\nvar_marciaIndietro = None\nvar_giravolte = None\nvar_ritirata = None\nvelocita = None\nstanco = None\n\n# Descrivi questa funzione...\ndef Scodinzola():\n global attesa, velocita_max, var_marciaIndietro, var_giravolte, var_ritirata, velocita, stanco\n get_prog_eng().check_end()\n for count in range(3):\n get_prog_eng().check_end()\n get_bot().right(speed=min(max(100 * velocita, 1), velocita_max), elapse=0.3)\n get_bot().sleep(attesa)\n get_bot().left(speed=min(max(100 * velocita, 1), velocita_max), elapse=0.5)\n get_bot().sleep(attesa)\n get_bot().right(speed=min(max(100 * velocita, 1), velocita_max), elapse=0.3)\n get_bot().sleep(attesa)\n\n# Descrivi questa funzione...\ndef Evita_Ostacoli():\n global attesa, velocita_max, var_marciaIndietro, var_giravolte, var_ritirata, velocita, stanco\n get_prog_eng().check_end()\n for count2 in range(15):\n get_prog_eng().check_end()\n if get_bot().get_sonar_distance(0) < 20:\n get_bot().backward(speed=min(max(100 * velocita, 1), velocita_max), elapse=0.5)\n get_bot().sleep(attesa)\n get_bot().right(speed=min(max(100 * velocita, 1), velocita_max), elapse=0.5)\n get_bot().sleep(attesa)\n elif get_bot().get_sonar_distance(1) < 20:\n get_bot().left(speed=min(max(100 * velocita, 1), velocita_max), elapse=0.5)\n get_bot().sleep(attesa)\n elif get_bot().get_sonar_distance(2) < 20:\n get_bot().right(speed=min(max(100 * velocita, 1), velocita_max), elapse=0.5)\n get_bot().sleep(attesa)\n else:\n get_bot().forward(speed=min(max(100 * velocita, 1), velocita_max), elapse=0.5)\n get_bot().sleep(attesa)\n\n# Descrivi questa funzione...\ndef Giravolte():\n global attesa, velocita_max, var_marciaIndietro, var_giravolte, var_ritirata, velocita, stanco\n get_prog_eng().check_end()\n get_bot().right(speed=min(max(100 * velocita, 1), velocita_max), elapse=2)\n get_bot().sleep(attesa)\n\n# Descrivi questa funzione...\ndef Patugliamento():\n global attesa, velocita_max, var_marciaIndietro, var_giravolte, var_ritirata, velocita, stanco\n get_prog_eng().check_end()\n for count3 in range(3):\n get_prog_eng().check_end()\n get_bot().right(speed=min(max(100 * velocita, 1), velocita_max), elapse=1)\n get_bot().sleep(0.5)\n\n# Descrivi questa funzione...\ndef Ritirata_e_fuga():\n global attesa, velocita_max, var_marciaIndietro, var_giravolte, var_ritirata, velocita, stanco\n get_prog_eng().check_end()\n get_bot().backward(speed=min(max(100 * velocita, 1), velocita_max), elapse=1)\n get_bot().sleep(attesa)\n get_bot().left(speed=min(max(100 * velocita, 1), velocita_max), elapse=3)\n get_bot().sleep(attesa)\n get_bot().forward(speed=min(max(100 * velocita, 1), velocita_max), elapse=1)\n get_bot().sleep(attesa)\n\n# Descrivi questa funzione...\ndef MarciaIndietro_e_Scarto():\n global attesa, velocita_max, var_marciaIndietro, var_giravolte, var_ritirata, velocita, stanco\n get_prog_eng().check_end()\n get_bot().backward(speed=min(max(100 * velocita, 1), velocita_max), elapse=1)\n get_bot().sleep(attesa)\n get_bot().right(speed=min(max(100 * velocita, 1), velocita_max), elapse=1)\n get_bot().sleep(attesa)\n\n\nattesa = 0.2\nvelocita_max = 80\nvar_marciaIndietro = 0\nvar_giravolte = 0\nvar_ritirata = 0\nstanco = 0\nvelocita = 1\nwhile True:\n get_prog_eng().check_end()\n stanco = (stanco if isinstance(stanco, Number) else 0) + 1\n var_marciaIndietro = (var_marciaIndietro if isinstance(var_marciaIndietro, Number) else 0) + 1\n var_giravolte = (var_giravolte if isinstance(var_giravolte, Number) else 0) + 1\n var_ritirata = (var_ritirata if isinstance(var_ritirata, Number) else 0) + 1\n if stanco == 5:\n stanco = 0\n velocita = 1\n elif stanco > 3:\n velocita = 0.5\n Scodinzola()\n Evita_Ostacoli()\n Patugliamento()\n if var_ritirata == 4:\n var_ritirata = 0\n Ritirata_e_fuga()\n if var_giravolte == 8:\n var_giravolte = 0\n Giravolte()\n get_bot().sleep(5)\n if var_marciaIndietro == 6:\n var_marciaIndietro = 0\n MarciaIndietro_e_Scarto()\n","default":""}
\ No newline at end of file
+{"name":"demo_roboetologist","dom_code":"<xml xmlns=\"https://developers.google.com/blockly/xml\"><variables><variable id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</variable><variable id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</variable><variable id=\"8|Zzym8yh{-PoN!=cEIq\">var_marciaIndietro</variable><variable id=\"k0;Q7iBn,I9wGXMH?}Do\">var_giravolte</variable><variable id=\"]o~;Yi%sgc~I2zpMw@#p\">var_ritirata</variable><variable id=\"}Amjkrp!.(7[D41[a^{6\">velocita</variable><variable id=\";M|:6*RIcl{fLp+^(S~p\">stanco</variable></variables><block type=\"procedures_defnoreturn\" id=\"!]5:R,96H,d*lP5TdKtv\" x=\"32\" y=\"-248\"><field name=\"NAME\">Scodinzola</field><comment pinned=\"false\" h=\"80\" w=\"160\">Descrivi questa funzione...</comment><statement name=\"STACK\"><block type=\"controls_repeat_ext\" id=\"$@148i!0XDrE)=/74E,F\"><value name=\"TIMES\"><block type=\"math_number\" id=\"Z|tRJT3et)`/%nF;x|BX\"><field name=\"NUM\">3</field></block></value><statement name=\"DO\"><block type=\"coderbot_adv_move\" id=\"ICVMx1}4##d{B2;1_0yw\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"YOER#;}9h-EjO#NWK$-r\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"c)2=ZX:s9Pu=6_!gAznZ\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"OkO@z~w=AGqzQZu357hr\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"`1Tkh_x5G03,$gK8[7`W\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"6k^]W@IDw;E{I)B2[vF[\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"r3grvcve;,ycs9O{$Z(`\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"KIT-F0Ks@@7mYljTMX}a\"><field name=\"NUM\">0.3</field></block></value><next><block type=\"coderbot_sleep\" id=\"8HSK*.y3si%z:5X:X}Cf\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"_JMB)UTj(N=+rh}WJ1gM\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"I!%c5zbo7`I8H8pPUGmi\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value><next><block type=\"coderbot_adv_move\" id=\"=G4VJm2R._wOHz%QTKGH\"><field name=\"ACTION\">LEFT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"sE)S[)9b8GYNM/}A?Q?a\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"th7m{buvj!fXr2[L}rdj\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"tD5onaW9m}8|$[!eMBlT\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"UI8*HDp}`l@z/mNCX#%h\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"?;j;(@*sHEBLK;FT9Snq\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"xm4O$9/uD/DtLEFUuc:H\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"C.gRCR/O:%1W,h%jxJQz\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"P@A2tlSC:EM}cZ{1qJOm\"><field name=\"NUM\">0.5</field></block></value><next><block type=\"coderbot_sleep\" id=\"4^Vbi3$0bgFj([_q#a)!\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"gfVNt(aQi}BuKUSFJ.3:\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"s@*_u8JqM`F^;vK{O*_0\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value><next><block type=\"coderbot_adv_move\" id=\"obZReNmla70EZtJwNI$8\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"IEU%gc|cb25NDN1pDPM*\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"{*bj!1W#x3tx!SeWj:kT\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"DaVdvC(WkUw{D:y*?4F6\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\".$SS=6=p56*%bV+0d!UP\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"~~F31]H,M#iZIBu-hpHt\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"S6tUIN@%q%t{Hz2ddE-{\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\".dOMH{.fxW#:}@%b#)JX\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"ZGo9-9/V=n8K.l-Ukk@h\"><field name=\"NUM\">0.3</field></block></value><next><block type=\"coderbot_sleep\" id=\"NK1usFSpUZ,JP33u=3#d\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"?f-Y1{[eyW,FRqS=Wjo$\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"]yMj3IsqdH!-7(8Cvk[U\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value></block></next></block></next></block></next></block></next></block></next></block></statement></block></statement></block><block type=\"procedures_defnoreturn\" id=\"eAhV_z+X]idI9Y2#)$n(\" x=\"1037\" y=\"-296\"><field name=\"NAME\">Evita_Ostacoli</field><comment pinned=\"false\" h=\"80\" w=\"160\">Descrivi questa funzione...</comment><statement name=\"STACK\"><block type=\"controls_repeat_ext\" id=\"@c#NwB$D7537*F7m=!(7\"><value name=\"TIMES\"><shadow type=\"math_number\" id=\"YMSS!*wG*F@i;BhUmTE`\"><field name=\"NUM\">15</field></shadow></value><statement name=\"DO\"><block type=\"controls_if\" id=\"X*#hoa)#P0K0YxbKTgIs\"><mutation elseif=\"2\" else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"Otlt5#y}Bm[e5ta5;YxY\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"coderbot_sonar_get_distance\" id=\"ssLQq~!Drc._YB6B-d3S\"><field name=\"SONAR\">0</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"eH-VJ17iCGoZyj+UEq:}\"><field name=\"NUM\">20</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\" id=\"trpdU@xT,u;^uH#kGc;f\"><field name=\"ACTION\">BACKWARD</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"HcmX([S/=AKRH4R8$I0B\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"/rWP6rW9R]E3-naWqgJb\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\".t[s{j8IX2vxW-3BN:mY\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"Fb`JpvO.k6Tc7[f,$O$v\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"$l?U4w3[2%qk..:nTePo\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"8Ifz1evG3eDtpQLtQGl9\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"iS!-;G+snS)ML@1l1*P%\"><field name=\"NUM\">0.5</field></block></value><next><block type=\"coderbot_sleep\" id=\"/vCSdFhWoJq}Z~+GZv@B\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"x)rjS0}jg(awX7.?Vw6}\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"nkX`O8.7pQ/nRXu}}SJ=\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value><next><block type=\"coderbot_adv_move\" id=\"lzJKDW53E#N;!A;c=C@_\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"PA|Q|jw0.1~mrO$9Q%P;\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"G|iI)YzX$qKo3I+17OnJ\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"I.S?k*]?]8:ux2At*LJ1\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"CXKnQkB)^Mp8+FB%/Kq}\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"Xe+Rt?_8u.vO?W@ZWs2-\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"j4=;9]Ka!u+7?MAJPGh?\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"YTc?Tsq{XFq({Kc.X:l2\"><field name=\"NUM\">0.5</field></block></value><next><block type=\"coderbot_sleep\" id=\"~D0glLe($lFOxGCVt({`\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"k=7sJ/UX#,{!dlpX;H`6\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"6%wD3wHrc$f(?}Bq)28s\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value></block></next></block></next></block></next></block></statement><value name=\"IF1\"><block type=\"logic_compare\" id=\"i374]E^am-M6uyS?-gKC\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"coderbot_sonar_get_distance\" id=\"Xp?Z4ev2ys-O`aN-$WNL\"><field name=\"SONAR\">1</field></block></value><value name=\"B\"><block type=\"math_number\" id=\",2c5e_Y3:j:T[liXjo{l\"><field name=\"NUM\">20</field></block></value></block></value><statement name=\"DO1\"><block type=\"coderbot_adv_move\" id=\"Am`s@r3LgvQtrS1TL57q\"><field name=\"ACTION\">LEFT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"~prj;Zl(AJ|,`oeCCf-,\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"DcI1#yBE~@moiU6YAv#x\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"j`G2K]gZRIV)]2.7dzG9\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"]wDU`;H3W8![o1a2fzk1\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"3/hwsno_gvMwqLT_mgV!\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"/5eh,CVTRpqcb/s5{R5H\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"8t@}mCD~^YNfqoRxQJl%\"><field name=\"NUM\">0.5</field></block></value><next><block type=\"coderbot_sleep\" id=\"]/3=*vM9ken$o-O1f~fV\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"*SfrgoD6pBdYTZcV!|0b\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"WPe.SW;HHIq|eAB`,BJ`\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value></block></next></block></statement><value name=\"IF2\"><block type=\"logic_compare\" id=\"Oi)HJ7[XQLUo?9Ja,p{i\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"coderbot_sonar_get_distance\" id=\"VX/j*WrI[j^f/|ei-f:(\"><field name=\"SONAR\">2</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"J=/3jvhaq=%R42539s$D\"><field name=\"NUM\">20</field></block></value></block></value><statement name=\"DO2\"><block type=\"coderbot_adv_move\" id=\"Yw+`{06m}q=Xy[hpZc--\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"/^l1V(M*RdBL=xaqy1tq\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"m_d8qZ${$Q]1dgRC9kg1\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"P1aDE;avAT65i|PhY=-2\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"rv=.e$[u+4J|wpmE!WWc\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"=72b0Fu=xSqlre+0P==V\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\",=w/soAS//gtuY7.MR1L\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"HM%|wVB7+V~p-IL[*AR^\"><field name=\"NUM\">0.5</field></block></value><next><block type=\"coderbot_sleep\" id=\"yJFCwyQPE5=?0r/~vamL\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"5W!KOp9GS.b=}L5otZuU\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"^omY,%{F`GV!pDo}yZrv\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value></block></next></block></statement><statement name=\"ELSE\"><block type=\"coderbot_adv_move\" id=\":l(I1S51$*1Y1BPm^@/w\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"SHq.(.XcZ}7M,l8RC_c@\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"w7#zA8o]]XpeNtS=VD-:\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"J9Igw@@/VH.K__Yl)@~p\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"Uo@*[cy$0q1dgsf#Q^z-\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"tb~[WgJ9A+?zO!3y}p;U\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"`}JdE]gqQ@ZY1w]uW%5C\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"GHLs)siSUy|OQqqr3dIo\"><field name=\"NUM\">0.5</field></block></value><next><block type=\"coderbot_sleep\" id=\"LcaW`EM+]Jb=X?I[;JSB\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"`tVVItwfg.HfaD1gzB=:\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"aBw0-LWH!FA$beTy(Zhv\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value></block></next></block></statement></block></statement></block></statement></block><block type=\"variables_set\" id=\"i9a!EM@s`-6hUdv$sr@3\" x=\"-546\" y=\"-188\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field><value name=\"VALUE\"><block type=\"math_number\" id=\"^=8DhFn=]2Efwc(|OkiD\"><field name=\"NUM\">0.2</field></block></value><next><block type=\"variables_set\" id=\"zjzJg@NAQU,k/!!@n5,*\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field><value name=\"VALUE\"><block type=\"math_number\" id=\"nDs=tH{gKK+fBi0-bA/_\"><field name=\"NUM\">80</field></block></value><next><block type=\"variables_set\" id=\"uD3I^ll~9L#obOA^SI!0\"><field name=\"VAR\" id=\"8|Zzym8yh{-PoN!=cEIq\">var_marciaIndietro</field><value name=\"VALUE\"><block type=\"math_number\" id=\"~G:^Vj.oE0(OO]ZP3Vcn\"><field name=\"NUM\">0</field></block></value><next><block type=\"variables_set\" id=\"Obn8q0fElL9mB(i|1]5[\"><field name=\"VAR\" id=\"k0;Q7iBn,I9wGXMH?}Do\">var_giravolte</field><value name=\"VALUE\"><block type=\"math_number\" id=\"H!=muFCqUw/I?)IGAUt|\"><field name=\"NUM\">0</field></block></value><next><block type=\"variables_set\" id=\"I/mn7F@$p-}4[H4_SBqY\"><field name=\"VAR\" id=\"]o~;Yi%sgc~I2zpMw@#p\">var_ritirata</field><value name=\"VALUE\"><block type=\"math_number\" id=\"*azH8=DJtBx-pQwu4|V6\"><field name=\"NUM\">0</field></block></value><next><block type=\"variables_set\" id=\"tEC)Up7J)~4{(Dz1[lCj\"><field name=\"VAR\" id=\";M|:6*RIcl{fLp+^(S~p\">stanco</field><value name=\"VALUE\"><block type=\"math_number\" id=\"E%Tw$~W4?sv.fNIxv0Ma\"><field name=\"NUM\">0</field></block></value><next><block type=\"variables_set\" id=\"x4jFKBKS^fdsk#T.U7Z!\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field><value name=\"VALUE\"><block type=\"math_number\" id=\"6ZiB~3h3aO3z5)_kg[zG\"><field name=\"NUM\">1</field></block></value><next><block type=\"controls_whileUntil\" id=\"-yfR%N=ZA:dr/vf[$_Y+\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"H@,=TqL*XM3|6M}Z:3+C\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"math_change\" id=\"1%fq4KBED@gkjP~jlRMk\"><field name=\"VAR\" id=\";M|:6*RIcl{fLp+^(S~p\">stanco</field><value name=\"DELTA\"><block type=\"math_number\" id=\";S+Wfd9n5g26eOE9EngY\"><field name=\"NUM\">1</field></block></value><next><block type=\"math_change\" id=\"f-`F7YcK2uSF1[N^tPM{\"><field name=\"VAR\" id=\"8|Zzym8yh{-PoN!=cEIq\">var_marciaIndietro</field><value name=\"DELTA\"><shadow type=\"math_number\" id=\"{gD@*ayDq5d6tMw(2Kbc\"><field name=\"NUM\">1</field></shadow></value><next><block type=\"math_change\" id=\"dS?rG_[64b{_2vBnB^QM\"><field name=\"VAR\" id=\"k0;Q7iBn,I9wGXMH?}Do\">var_giravolte</field><value name=\"DELTA\"><shadow type=\"math_number\" id=\"dkbf0gA|c8o0Cm=!@gQT\"><field name=\"NUM\">1</field></shadow></value><next><block type=\"math_change\" id=\"`)S8h1qAw*?jy*ixY}u+\"><field name=\"VAR\" id=\"]o~;Yi%sgc~I2zpMw@#p\">var_ritirata</field><value name=\"DELTA\"><shadow type=\"math_number\" id=\"1L=-j:W;2d`s1`:q.su~\"><field name=\"NUM\">1</field></shadow></value><next><block type=\"controls_if\" id=\"S!3#D%1@0YM^;{sm}Q.k\"><mutation elseif=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"/dnfv--t9_A=(06arGX$\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"/}JP!cseKId$umH4~#!d\"><field name=\"VAR\" id=\";M|:6*RIcl{fLp+^(S~p\">stanco</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"9WL24mxLME}qFQWRype$\"><field name=\"NUM\">5</field></block></value></block></value><statement name=\"DO0\"><block type=\"variables_set\" id=\"~_/s2uIq9S6k56j~CVA#\"><field name=\"VAR\" id=\";M|:6*RIcl{fLp+^(S~p\">stanco</field><value name=\"VALUE\"><block type=\"math_number\" id=\"YjfWxc5Q+w#]Da0z;@@s\"><field name=\"NUM\">0</field></block></value><next><block type=\"variables_set\" id=\"@Z/po(O(J`O{*FUL?#%K\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field><value name=\"VALUE\"><block type=\"math_number\" id=\"jmeKZm8wIKG-As_[L%t4\"><field name=\"NUM\">1</field></block></value></block></next></block></statement><value name=\"IF1\"><block type=\"logic_compare\" id=\"E@jRA2fJ},Gr}awmmspH\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"variables_get\" id=\"|RNUw6)n!:kvhSz]2of^\"><field name=\"VAR\" id=\";M|:6*RIcl{fLp+^(S~p\">stanco</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"Q@W~I[!UTRLrFCi:+4D4\"><field name=\"NUM\">3</field></block></value></block></value><statement name=\"DO1\"><block type=\"variables_set\" id=\"TX2klHO#QS96(-b;oxdw\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field><value name=\"VALUE\"><block type=\"math_number\" id=\"}5,MJoA8{Gp/tD?@oBQq\"><field name=\"NUM\">0.5</field></block></value></block></statement><next><block type=\"procedures_callnoreturn\" id=\"k`=DiML{Ev{}a{|`u#r^\"><mutation name=\"Scodinzola\"></mutation><next><block type=\"procedures_callnoreturn\" id=\":ye0=GgRvJ|3|S7-:50(\"><mutation name=\"Evita_Ostacoli\"></mutation><next><block type=\"procedures_callnoreturn\" id=\"`QMv)mRAiqx$_MAPiJ#(\"><mutation name=\"Patugliamento\"></mutation><next><block type=\"controls_if\" id=\"BlK3e^r83~^p3h*QJQB(\"><value name=\"IF0\"><block type=\"logic_compare\" id=\"N`FCfoA4|6B]gmd@$Dno\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"9ryL2^n0LI=Njn!yDEHO\"><field name=\"VAR\" id=\"]o~;Yi%sgc~I2zpMw@#p\">var_ritirata</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"-FitrZK{v?e%Bl96c?t[\"><field name=\"NUM\">4</field></block></value></block></value><statement name=\"DO0\"><block type=\"variables_set\" id=\"oE:q?4%-V6J,QS}AjzFy\"><field name=\"VAR\" id=\"]o~;Yi%sgc~I2zpMw@#p\">var_ritirata</field><value name=\"VALUE\"><block type=\"math_number\" id=\"b775EElpGb*z4nrauX3b\"><field name=\"NUM\">0</field></block></value><next><block type=\"procedures_callnoreturn\" id=\"`hI(00uN;R!C0:4FyTci\"><mutation name=\"Ritirata_e_fuga\"></mutation></block></next></block></statement><next><block type=\"controls_if\" id=\"?p]@;Dl*R1%(/PQ!=dWJ\"><value name=\"IF0\"><block type=\"logic_compare\" id=\"@MV6{HWJdTLo1usYNV2W\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"G56lN%n(%*qfMbha3fjO\"><field name=\"VAR\" id=\"k0;Q7iBn,I9wGXMH?}Do\">var_giravolte</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"@]`ZuP~Ps,dfw9u7_/]~\"><field name=\"NUM\">8</field></block></value></block></value><statement name=\"DO0\"><block type=\"variables_set\" id=\")Q=MM=wJix8:e}3t!6p8\"><field name=\"VAR\" id=\"k0;Q7iBn,I9wGXMH?}Do\">var_giravolte</field><value name=\"VALUE\"><block type=\"math_number\" id=\"x7=CztX|VrM#X=PCQA2[\"><field name=\"NUM\">0</field></block></value><next><block type=\"procedures_callnoreturn\" id=\"DTy{!1~CoWr@ee?Sa;-@\"><mutation name=\"Giravolte\"></mutation></block></next></block></statement><next><block type=\"coderbot_sleep\" id=\"88T*(,r#Vj@:5zDE9tEO\"><value name=\"ELAPSE\"><block type=\"math_number\" id=\"42a6{m0y}CCt=]AHjj`6\"><field name=\"NUM\">5</field></block></value><next><block type=\"controls_if\" id=\"?5V^l6nIq)IysusCwzDR\"><value name=\"IF0\"><block type=\"logic_compare\" id=\",Fqr6N)B(p0}6{`5cj@!\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"pOVIS4*1q_5EkuSnmj5O\"><field name=\"VAR\" id=\"8|Zzym8yh{-PoN!=cEIq\">var_marciaIndietro</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"V_L}xISG;/(yv+LDAq?C\"><field name=\"NUM\">6</field></block></value></block></value><statement name=\"DO0\"><block type=\"variables_set\" id=\"!rUQPht{;fn5,B39fxcB\"><field name=\"VAR\" id=\"8|Zzym8yh{-PoN!=cEIq\">var_marciaIndietro</field><value name=\"VALUE\"><block type=\"math_number\" id=\"3KIWSuuWoCFaux|K`2GK\"><field name=\"NUM\">0</field></block></value><next><block type=\"procedures_callnoreturn\" id=\"=}BrOn/{1I*_k%*4~pC+\"><mutation name=\"MarciaIndietro_e_Scarto\"></mutation></block></next></block></statement></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></statement></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block><block type=\"procedures_defnoreturn\" id=\"Wph:,`b9y/Qr@m#qVKh8\" x=\"105\" y=\"236\"><field name=\"NAME\">Giravolte</field><comment pinned=\"false\" h=\"80\" w=\"160\">Descrivi questa funzione...</comment><statement name=\"STACK\"><block type=\"coderbot_adv_move\" id=\"){(:UQ%yk$)1o1Pguk9S\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"c5hzzlx2+eA%touCb]1`\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"lydvF$Ej,y;~N7Po7)o*\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"]9^qO6wW.}1C+h$MbiDE\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"|HP$c2sw0L^tzXq-fLy(\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"#wD6$fKI/W:^T0,9*{8.\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"i*Zleg*v;rpIcG.i7(J:\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"]EVJ2A)5rU){Yqlll0@p\"><field name=\"NUM\">2</field></block></value><next><block type=\"coderbot_sleep\" id=\"d.86;#zvChlP=wxiRYK{\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"wHB]k#o@Np$i#8^9apv!\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"Rde:F#~+L06azq2tVyD-\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value></block></next></block></statement></block><block type=\"procedures_defnoreturn\" id=\"#Lt]PDTBgL/]Mr,,RwFk\" x=\"31\" y=\"400\"><field name=\"NAME\">Patugliamento</field><comment pinned=\"false\" h=\"80\" w=\"160\">Descrivi questa funzione...</comment><statement name=\"STACK\"><block type=\"controls_repeat_ext\" id=\"zU:(eaKOX8bwg|@q)l/x\"><value name=\"TIMES\"><block type=\"math_number\" id=\"yzK?W9/:u/?TIb)n`E{l\"><field name=\"NUM\">3</field></block></value><statement name=\"DO\"><block type=\"coderbot_adv_move\" id=\"%k|)9QK~_+#YJ[i]f(^|\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"~_wpvFs,tj:4ZSU!6cmI\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"!qKX^lFR%49P+$0r%N;6\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"W0F$EFUx8!vMe|8,m`e)\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"8TVs2lFlm;#yzBe6_g9]\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"YHo$W[}K#~s[ir9kNv)_\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"u)Hj]9kY}4_a.DRL@rG?\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"y4w)^60I$wv3fB6T@Gbj\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_sleep\" id=\"5Bfgw2kcW($A8vSHtir.\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"*!VdE}A-vb2YZ-a^p06D\"><field name=\"NUM\">0.5</field></shadow></value></block></next></block></statement></block></statement></block><block type=\"procedures_defnoreturn\" id=\"k).IYZ!#sHk(8noL0i@l\" x=\"-93\" y=\"642\"><field name=\"NAME\">Ritirata_e_fuga</field><comment pinned=\"false\" h=\"80\" w=\"160\">Descrivi questa funzione...</comment><statement name=\"STACK\"><block type=\"coderbot_adv_move\" id=\"[~BG$Oi=L4ZH@MEvOEtV\"><field name=\"ACTION\">BACKWARD</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"?RuLhTzie::^EqgHxS)x\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"{o8]MWs*L7Xm(10NerE`\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"%F|VO,DV~}UHb:@|C2p-\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"c[;21(SABvfs)G)|4x^Z\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"Lb_3Nu2HTBW9gtaA8D+`\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"yst;fA`Z%rps/:1!a:v?\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"a_?(=WI*yG|Qw@p0#tcq\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_sleep\" id=\"Pp)@[psXrpWB%/nL5}Vc\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"rEx#9(2@Z%N`|DnWh+an\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"o7B~om;.tZrb6@p)?EKY\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value><next><block type=\"coderbot_adv_move\" id=\"PR|@J[;x$lCEM(4:.S(~\"><field name=\"ACTION\">LEFT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"f)~FYQvG=f/)C9n|kusd\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"^O.!+5/K#K!T#OZds3gz\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"v|f3Q5~D0I.k*to]}=vH\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"~egc|sz;b2=r#9h;O:F/\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"qRJL!80G9IL_?@PGQV$r\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"pfLThV)s=gML_k3{I5jV\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"]}Uj)tHeUYGo]lc^$yL+\"><field name=\"NUM\">3</field></block></value><next><block type=\"coderbot_sleep\" id=\"=%5988mlKNB(RjC0Ua^d\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"E~M696!a~}o-oXq1E]3x\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\":.J$pq2!m5|F4+^*qXiF\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value><next><block type=\"coderbot_adv_move\" id=\",5-k}T[BoGUuJt=#q8y/\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"Gw-[#MNK.kb(Pk+@oyR}\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"$:{Ytk.}NMv*^1k:*j+d\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"gMg4F/eD[6_*An+0N#1Y\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"IGeI6gf.7_tJ;uxoau+V\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"^yf:cE[2SnCjF6M7rKU~\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"mTnh,E_(RE`3L)j2;|s3\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"l+Ck2grV#HM3.7N!xIzk\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_sleep\" id=\"D|Zu+_W_#Hecykew]HjB\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"Y(D;RDGx-_?vUoP@{E|S\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"_J~jub1fQ$0.7h}aRX9#\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value></block></next></block></next></block></next></block></next></block></next></block></statement></block><block type=\"procedures_defnoreturn\" id=\"C2,|x88yVW6)$C|.Z[fn\" x=\"869\" y=\"650\"><field name=\"NAME\">MarciaIndietro_e_Scarto</field><comment pinned=\"false\" h=\"80\" w=\"160\">Descrivi questa funzione...</comment><statement name=\"STACK\"><block type=\"coderbot_adv_move\" id=\"io(!A$V*Tw58pI}^6_YY\"><field name=\"ACTION\">BACKWARD</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\":[u[8j)-^u#O^k`vIU9L\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"q2_I$}9a~5hZ4}@#`$^_\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"Y.`7b`52G9cmcxW?%3wl\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"hCC*}yGz5:h}h6dMwS!y\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"|m-nKgik@#(Y#zPfqU=,\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"`v-dkUixI3E=wr_G(!Ps\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"rRihLI!yF)H~N-qDFQz`\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_sleep\" id=\"f)]lI*iZwr2k$/-,OJ09\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"S#Y;lv?GQsDc7Za1uD^+\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"%~G.hJ0_bq{H8p(^LE-1\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value><next><block type=\"coderbot_adv_move\" id=\"n[LcL!+Xt9y6roV{2Z*[\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"QS=:BWqYG)%$)mU78~kQ\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"3||`T0aFosR5VFJaXS#I\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"LsMIWEV,WsfUY5KF]PVY\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"Q@KPVYLIp2/|i/R/4?EZ\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"XdKC2u$Zz`AzvrUT/3]z\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"wu#EubUV3Ic$jo)%{UzR\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"53`z:pDpu+~Sv3~`N-G~\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_sleep\" id=\"!rX}?uvL2bjbK+8xT_QY\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"/2aHV}CkHtI*dAV{sSM/\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"BOQ!ur6NR+#^~sk}YB)D\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value></block></next></block></next></block></next></block></statement></block></xml>","code":"from numbers import Number\n\nattesa = None\nvelocita_max = None\nvar_marciaIndietro = None\nvar_giravolte = None\nvar_ritirata = None\nvelocita = None\nstanco = None\n\n# Descrivi questa funzione...\ndef Scodinzola():\n global attesa, velocita_max, var_marciaIndietro, var_giravolte, var_ritirata, velocita, stanco\n get_prog_eng().check_end()\n for count in range(3):\n get_prog_eng().check_end()\n get_bot().right(speed=min(max(100 * velocita, 1), velocita_max), elapse=0.3)\n get_bot().sleep(attesa)\n get_bot().left(speed=min(max(100 * velocita, 1), velocita_max), elapse=0.5)\n get_bot().sleep(attesa)\n get_bot().right(speed=min(max(100 * velocita, 1), velocita_max), elapse=0.3)\n get_bot().sleep(attesa)\n\n# Descrivi questa funzione...\ndef Evita_Ostacoli():\n global attesa, velocita_max, var_marciaIndietro, var_giravolte, var_ritirata, velocita, stanco\n get_prog_eng().check_end()\n for count2 in range(15):\n get_prog_eng().check_end()\n if get_bot().get_sonar_distance(0) < 20:\n get_bot().backward(speed=min(max(100 * velocita, 1), velocita_max), elapse=0.5)\n get_bot().sleep(attesa)\n get_bot().right(speed=min(max(100 * velocita, 1), velocita_max), elapse=0.5)\n get_bot().sleep(attesa)\n elif get_bot().get_sonar_distance(1) < 20:\n get_bot().left(speed=min(max(100 * velocita, 1), velocita_max), elapse=0.5)\n get_bot().sleep(attesa)\n elif get_bot().get_sonar_distance(2) < 20:\n get_bot().right(speed=min(max(100 * velocita, 1), velocita_max), elapse=0.5)\n get_bot().sleep(attesa)\n else:\n get_bot().forward(speed=min(max(100 * velocita, 1), velocita_max), elapse=0.5)\n get_bot().sleep(attesa)\n\n# Descrivi questa funzione...\ndef Giravolte():\n global attesa, velocita_max, var_marciaIndietro, var_giravolte, var_ritirata, velocita, stanco\n get_prog_eng().check_end()\n get_bot().right(speed=min(max(100 * velocita, 1), velocita_max), elapse=2)\n get_bot().sleep(attesa)\n\n# Descrivi questa funzione...\ndef Patugliamento():\n global attesa, velocita_max, var_marciaIndietro, var_giravolte, var_ritirata, velocita, stanco\n get_prog_eng().check_end()\n for count3 in range(3):\n get_prog_eng().check_end()\n get_bot().right(speed=min(max(100 * velocita, 1), velocita_max), elapse=1)\n get_bot().sleep(0.5)\n\n# Descrivi questa funzione...\ndef Ritirata_e_fuga():\n global attesa, velocita_max, var_marciaIndietro, var_giravolte, var_ritirata, velocita, stanco\n get_prog_eng().check_end()\n get_bot().backward(speed=min(max(100 * velocita, 1), velocita_max), elapse=1)\n get_bot().sleep(attesa)\n get_bot().left(speed=min(max(100 * velocita, 1), velocita_max), elapse=3)\n get_bot().sleep(attesa)\n get_bot().forward(speed=min(max(100 * velocita, 1), velocita_max), elapse=1)\n get_bot().sleep(attesa)\n\n# Descrivi questa funzione...\ndef MarciaIndietro_e_Scarto():\n global attesa, velocita_max, var_marciaIndietro, var_giravolte, var_ritirata, velocita, stanco\n get_prog_eng().check_end()\n get_bot().backward(speed=min(max(100 * velocita, 1), velocita_max), elapse=1)\n get_bot().sleep(attesa)\n get_bot().right(speed=min(max(100 * velocita, 1), velocita_max), elapse=1)\n get_bot().sleep(attesa)\n\n\nattesa = 0.2\nvelocita_max = 80\nvar_marciaIndietro = 0\nvar_giravolte = 0\nvar_ritirata = 0\nstanco = 0\nvelocita = 1\nwhile True:\n get_prog_eng().check_end()\n stanco = (stanco if isinstance(stanco, Number) else 0) + 1\n var_marciaIndietro = (var_marciaIndietro if isinstance(var_marciaIndietro, Number) else 0) + 1\n var_giravolte = (var_giravolte if isinstance(var_giravolte, Number) else 0) + 1\n var_ritirata = (var_ritirata if isinstance(var_ritirata, Number) else 0) + 1\n if stanco == 5:\n stanco = 0\n velocita = 1\n elif stanco > 3:\n velocita = 0.5\n Scodinzola()\n Evita_Ostacoli()\n Patugliamento()\n if var_ritirata == 4:\n var_ritirata = 0\n Ritirata_e_fuga()\n if var_giravolte == 8:\n var_giravolte = 0\n Giravolte()\n get_bot().sleep(5)\n if var_marciaIndietro == 6:\n var_marciaIndietro = 0\n MarciaIndietro_e_Scarto()\n","default":""}
\ No newline at end of file
diff --git a/defaults/programs/program_demo_sound_clap_control.json b/defaults/programs/program_demo_sound_clap_control.json
index 29f377f3..a735de15 100644
--- a/defaults/programs/program_demo_sound_clap_control.json
+++ b/defaults/programs/program_demo_sound_clap_control.json
@@ -1 +1 @@
-{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><block type=\"controls_whileUntil\" x=\"-43\" y=\"126\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\"><field name=\"VAR\">noise</field><value name=\"VALUE\"><block type=\"coderbot_audio_hear\"><value name=\"LEVEL\"><block type=\"math_number\"><field name=\"NUM\">1000</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">0.2</field></block></value></block></value><next><block type=\"text_print\"><value name=\"TEXT\"><block type=\"variables_get\"><field name=\"VAR\">noise</field></block></value><next><block type=\"controls_if\"><mutation else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\"><field name=\"VAR\">noise</field></block></value><value name=\"B\"><block type=\"logic_boolean\"><field name=\"BOOL\">FALSE</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_number\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">-1</field></block></value></block></statement><statement name=\"ELSE\"><block type=\"coderbot_adv_move\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_number\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">0.5</field></block></value></block></statement></block></next></block></next></block></statement><next><block type=\"coderbot_adv_stop\"></block></next></block></xml>", "code": "noise = None\n\n\nwhile True:\n get_prog_eng().check_end()\n noise = get_audio().hear(level=1000, elapse=0.2)\n get_cam().set_text(noise)\n if noise == False:\n get_bot().forward(speed=100, elapse=-1)\n else:\n get_bot().right(speed=100, elapse=0.5)\nget_bot().stop()\n", "name": "clap_control"}
\ No newline at end of file
+{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><block type=\"controls_whileUntil\" x=\"-43\" y=\"126\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\"><field name=\"VAR\">noise</field><value name=\"VALUE\"><block type=\"coderbot_audio_hear\"><value name=\"LEVEL\"><block type=\"math_number\"><field name=\"NUM\">1000</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">0.2</field></block></value></block></value><next><block type=\"text_print\"><value name=\"TEXT\"><block type=\"variables_get\"><field name=\"VAR\">noise</field></block></value><next><block type=\"controls_if\"><mutation else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\"><field name=\"VAR\">noise</field></block></value><value name=\"B\"><block type=\"logic_boolean\"><field name=\"BOOL\">FALSE</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_number\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">-1</field></block></value></block></statement><statement name=\"ELSE\"><block type=\"coderbot_adv_move\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_number\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">0.5</field></block></value></block></statement></block></next></block></next></block></statement><next><block type=\"coderbot_adv_stop\"></block></next></block></xml>", "code": "noise = None\n\n\nwhile True:\n get_prog_eng().check_end()\n noise = get_audio().hear(level=1000, elapse=0.2)\n get_cam().set_text(noise)\n if noise == False:\n get_bot().forward(speed=100, elapse=-1)\n else:\n get_bot().right(speed=100, elapse=0.5)\nget_bot().stop()\n", "name": "demo_sound_clap_control"}
\ No newline at end of file
diff --git a/defaults/programs/program_test_find_code.json b/defaults/programs/program_test_find_code.json
index 0f16e779..37b1b610 100644
--- a/defaults/programs/program_test_find_code.json
+++ b/defaults/programs/program_test_find_code.json
@@ -1 +1 @@
-{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><variables></variables><block type=\"controls_whileUntil\" id=\"0Mx[mSKoV~Gk1qbv5Wrn\" x=\"9\" y=\"103\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"q8(wB97}Y)d71cgy$yo#\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"text_print\" id=\"0fGi]QOF@I*b$5x^?f#A\"><value name=\"TEXT\"><block type=\"coderbot_adv_findQRCode\" id=\"zG.;=ZyX~k=YR$T(6JF*\"></block></value></block></statement></block></xml>", "code": "while True:\n get_prog_eng().check_end()\n get_cam().set_text(get_cam().find_qr_code())\n", "name": "find_code_test"}
\ No newline at end of file
+{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><variables></variables><block type=\"controls_whileUntil\" id=\"0Mx[mSKoV~Gk1qbv5Wrn\" x=\"9\" y=\"103\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"q8(wB97}Y)d71cgy$yo#\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"text_print\" id=\"0fGi]QOF@I*b$5x^?f#A\"><value name=\"TEXT\"><block type=\"coderbot_adv_findQRCode\" id=\"zG.;=ZyX~k=YR$T(6JF*\"></block></value></block></statement></block></xml>", "code": "while True:\n get_prog_eng().check_end()\n get_cam().set_text(get_cam().find_qr_code())\n", "name": "test_find_code"}
\ No newline at end of file
diff --git a/defaults/programs/program_test_find_color.json b/defaults/programs/program_test_find_color.json
index 68bc4586..293735b1 100644
--- a/defaults/programs/program_test_find_color.json
+++ b/defaults/programs/program_test_find_color.json
@@ -1 +1 @@
-{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><block type=\"controls_whileUntil\" x=\"1\" y=\"90\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\"><field name=\"VAR\">dist</field><value name=\"VALUE\"><block type=\"coderbot_adv_findColor\"><field name=\"RETVAL\">DIST</field><value name=\"COLOR\"><block type=\"text\"><field name=\"TEXT\">#96b73c</field></block></value></block></value><next><block type=\"variables_set\"><field name=\"VAR\">angle</field><value name=\"VALUE\"><block type=\"coderbot_adv_findColor\"><field name=\"RETVAL\">ANGLE</field><value name=\"COLOR\"><block type=\"text\"><field name=\"TEXT\">#96b73c</field></block></value></block></value><next><block type=\"text_print\"><value name=\"TEXT\"><block type=\"text_join\"><mutation items=\"4\"></mutation><value name=\"ADD0\"><block type=\"text\"><field name=\"TEXT\">Distance: </field></block></value><value name=\"ADD1\"><block type=\"variables_get\"><field name=\"VAR\">dist</field></block></value><value name=\"ADD2\"><block type=\"text\"><field name=\"TEXT\"> angle: </field></block></value><value name=\"ADD3\"><block type=\"variables_get\"><field name=\"VAR\">angle</field></block></value></block></value></block></next></block></next></block></statement></block></xml>", "code": "dist = None\nangle = None\n\n\nwhile True:\n get_prog_eng().check_end()\n dist = get_cam().find_color('#96b73c')[0]\n angle = get_cam().find_color('#96b73c')[1]\n get_cam().set_text(''.join([str(temp_value) for temp_value in ['Distance: ', dist, ' angle: ', angle]]))\n", "name": "find_color"}
\ No newline at end of file
+{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><block type=\"controls_whileUntil\" x=\"1\" y=\"90\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\"><field name=\"VAR\">dist</field><value name=\"VALUE\"><block type=\"coderbot_adv_findColor\"><field name=\"RETVAL\">DIST</field><value name=\"COLOR\"><block type=\"text\"><field name=\"TEXT\">#96b73c</field></block></value></block></value><next><block type=\"variables_set\"><field name=\"VAR\">angle</field><value name=\"VALUE\"><block type=\"coderbot_adv_findColor\"><field name=\"RETVAL\">ANGLE</field><value name=\"COLOR\"><block type=\"text\"><field name=\"TEXT\">#96b73c</field></block></value></block></value><next><block type=\"text_print\"><value name=\"TEXT\"><block type=\"text_join\"><mutation items=\"4\"></mutation><value name=\"ADD0\"><block type=\"text\"><field name=\"TEXT\">Distance: </field></block></value><value name=\"ADD1\"><block type=\"variables_get\"><field name=\"VAR\">dist</field></block></value><value name=\"ADD2\"><block type=\"text\"><field name=\"TEXT\"> angle: </field></block></value><value name=\"ADD3\"><block type=\"variables_get\"><field name=\"VAR\">angle</field></block></value></block></value></block></next></block></next></block></statement></block></xml>", "code": "dist = None\nangle = None\n\n\nwhile True:\n get_prog_eng().check_end()\n dist = get_cam().find_color('#96b73c')[0]\n angle = get_cam().find_color('#96b73c')[1]\n get_cam().set_text(''.join([str(temp_value) for temp_value in ['Distance: ', dist, ' angle: ', angle]]))\n", "name": "test_find_color"}
\ No newline at end of file
diff --git a/defaults/programs/program_test_find_face.json b/defaults/programs/program_test_find_face.json
index ace65032..4320243b 100644
--- a/defaults/programs/program_test_find_face.json
+++ b/defaults/programs/program_test_find_face.json
@@ -1 +1 @@
-{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><variables><variable type=\"\" id=\"G`ooSD^IjFl@q`VRXz`M\">face</variable><variable type=\"\" id=\"JU]w:x,u6R_]KGB{:XP:\">face_x</variable><variable type=\"\" id=\"YdZ|nz8=@UwR53L{5(Te\">face_size</variable></variables><block type=\"controls_whileUntil\" id=\"CoP0+krwBNk-W]8d*90A\" x=\"32\" y=\"26\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"fi_0^7$bm]/5xQ|Zpg=(\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\" id=\"f$?dr|af|Ac.xwmgSA%J\"><field name=\"VAR\" id=\"G`ooSD^IjFl@q`VRXz`M\" variabletype=\"\">face</field><value name=\"VALUE\"><block type=\"coderbot_adv_findFace\" id=\"H`#u_,_?;x,73RZ}}gR{\"><field name=\"RETVAL\">ALL</field></block></value><next><block type=\"variables_set\" id=\"{o9)u+=V]D]h(5aygd~M\"><field name=\"VAR\" id=\"JU]w:x,u6R_]KGB{:XP:\" variabletype=\"\">face_x</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\"dAqQ+k+Lsv!1N7zj4(4^\"><mutation statement=\"false\" at=\"true\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FROM_START</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"65Q5x52oC~jam{#uHnFe\"><field name=\"VAR\" id=\"G`ooSD^IjFl@q`VRXz`M\" variabletype=\"\">face</field></block></value><value name=\"AT\"><block type=\"math_number\" id=\"^aod?Rq):AVnd02Or|!L\"><field name=\"NUM\">1</field></block></value></block></value><next><block type=\"variables_set\" id=\"I{^(8GT:UL9{7jdNlg[w\"><field name=\"VAR\" id=\"YdZ|nz8=@UwR53L{5(Te\" variabletype=\"\">face_size</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\"2}fQ04Qws48,xb!?z1pW\"><mutation statement=\"false\" at=\"true\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FROM_START</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"hmZQMGjZ94)AhuZ6JUYa\"><field name=\"VAR\" id=\"G`ooSD^IjFl@q`VRXz`M\" variabletype=\"\">face</field></block></value><value name=\"AT\"><block type=\"math_number\" id=\"=LbR3.00CDs*hnk()Y^-\"><field name=\"NUM\">2</field></block></value></block></value><next><block type=\"text_print\" id=\"O}.LG0(E@nzN,p;l%v2{\"><value name=\"TEXT\"><block type=\"text_join\" id=\"mRJtt8foB.;Gpq0fM,4D\"><mutation items=\"2\"></mutation><value name=\"ADD0\"><block type=\"text\" id=\",=O:[=q5SBb`1$S,-R,:\"><field name=\"TEXT\">face: </field></block></value><value name=\"ADD1\"><block type=\"variables_get\" id=\"UEwJl:.puwUq)R!zo@Z7\"><field name=\"VAR\" id=\"JU]w:x,u6R_]KGB{:XP:\" variabletype=\"\">face_x</field></block></value></block></value><next><block type=\"controls_if\" id=\"9tGk|M6u455Nu1(SI}{K\"><value name=\"IF0\"><block type=\"variables_get\" id=\"9}[hrA3rOFo0n+BAsX-f\"><field name=\"VAR\" id=\"JU]w:x,u6R_]KGB{:XP:\" variabletype=\"\">face_x</field></block></value><statement name=\"DO0\"><block type=\"controls_if\" id=\"1-%~}MODhI#*$?^aB_tS\"><mutation elseif=\"1\" else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"`rz$_58rWb#ufStSd](T\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"variables_get\" id=\"O}zML^tGL7t3C*mWsEMo\"><field name=\"VAR\" id=\"JU]w:x,u6R_]KGB{:XP:\" variabletype=\"\">face_x</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"gdx{O}:M_*b|FpvgG_~h\"><field name=\"NUM\">-10</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\" id=\"@[^uw~TU^Vti#)6HZC?K\"><field name=\"ACTION\">LEFT</field><value name=\"SPEED\"><block type=\"math_number\" id=\"vt6%MV@vkT*tB]%2:7vQ\"><field name=\"NUM\">80</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"d3[F3QtIG#jb=1IPOem)\"><field name=\"NUM\">0.1</field></block></value></block></statement><value name=\"IF1\"><block type=\"logic_compare\" id=\"/zef{/F+:n[eI1@+MIKR\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"variables_get\" id=\"dh8opiswQU13wjT![yV[\"><field name=\"VAR\" id=\"JU]w:x,u6R_]KGB{:XP:\" variabletype=\"\">face_x</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"2RVlzW2}AG#ywuHP6N=+\"><field name=\"NUM\">10</field></block></value></block></value><statement name=\"DO1\"><block type=\"coderbot_adv_move\" id=\"4`Z7%j+MV5(5,BM!RRBA\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_number\" id=\"v`ab`#qs7J5]2XaOp]s[\"><field name=\"NUM\">80</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"A_y%A@DITmnWACnr0]zK\"><field name=\"NUM\">0.1</field></block></value></block></statement><statement name=\"ELSE\"><block type=\"coderbot_adv_stop\" id=\"B/$XZ_Giuo_h#Q?JM{w}\"></block></statement></block></statement></block></next></block></next></block></next></block></next></block></statement></block></xml>", "code": "face = None\nface_x = None\nface_size = None\n\n\nwhile True:\n get_prog_eng().check_end()\n face = get_cam().find_face()\n face_x = face[0]\n face_size = face[1]\n get_cam().set_text(str('face: ') + str(face_x))\n if face_x:\n if face_x < -10:\n get_bot().left(speed=80, elapse=0.1)\n elif face_x > 10:\n get_bot().right(speed=80, elapse=0.1)\n else:\n get_bot().stop()\n", "name": "face_find"}
\ No newline at end of file
+{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><variables><variable type=\"\" id=\"G`ooSD^IjFl@q`VRXz`M\">face</variable><variable type=\"\" id=\"JU]w:x,u6R_]KGB{:XP:\">face_x</variable><variable type=\"\" id=\"YdZ|nz8=@UwR53L{5(Te\">face_size</variable></variables><block type=\"controls_whileUntil\" id=\"CoP0+krwBNk-W]8d*90A\" x=\"32\" y=\"26\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"fi_0^7$bm]/5xQ|Zpg=(\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\" id=\"f$?dr|af|Ac.xwmgSA%J\"><field name=\"VAR\" id=\"G`ooSD^IjFl@q`VRXz`M\" variabletype=\"\">face</field><value name=\"VALUE\"><block type=\"coderbot_adv_findFace\" id=\"H`#u_,_?;x,73RZ}}gR{\"><field name=\"RETVAL\">ALL</field></block></value><next><block type=\"variables_set\" id=\"{o9)u+=V]D]h(5aygd~M\"><field name=\"VAR\" id=\"JU]w:x,u6R_]KGB{:XP:\" variabletype=\"\">face_x</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\"dAqQ+k+Lsv!1N7zj4(4^\"><mutation statement=\"false\" at=\"true\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FROM_START</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"65Q5x52oC~jam{#uHnFe\"><field name=\"VAR\" id=\"G`ooSD^IjFl@q`VRXz`M\" variabletype=\"\">face</field></block></value><value name=\"AT\"><block type=\"math_number\" id=\"^aod?Rq):AVnd02Or|!L\"><field name=\"NUM\">1</field></block></value></block></value><next><block type=\"variables_set\" id=\"I{^(8GT:UL9{7jdNlg[w\"><field name=\"VAR\" id=\"YdZ|nz8=@UwR53L{5(Te\" variabletype=\"\">face_size</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\"2}fQ04Qws48,xb!?z1pW\"><mutation statement=\"false\" at=\"true\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FROM_START</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"hmZQMGjZ94)AhuZ6JUYa\"><field name=\"VAR\" id=\"G`ooSD^IjFl@q`VRXz`M\" variabletype=\"\">face</field></block></value><value name=\"AT\"><block type=\"math_number\" id=\"=LbR3.00CDs*hnk()Y^-\"><field name=\"NUM\">2</field></block></value></block></value><next><block type=\"text_print\" id=\"O}.LG0(E@nzN,p;l%v2{\"><value name=\"TEXT\"><block type=\"text_join\" id=\"mRJtt8foB.;Gpq0fM,4D\"><mutation items=\"2\"></mutation><value name=\"ADD0\"><block type=\"text\" id=\",=O:[=q5SBb`1$S,-R,:\"><field name=\"TEXT\">face: </field></block></value><value name=\"ADD1\"><block type=\"variables_get\" id=\"UEwJl:.puwUq)R!zo@Z7\"><field name=\"VAR\" id=\"JU]w:x,u6R_]KGB{:XP:\" variabletype=\"\">face_x</field></block></value></block></value><next><block type=\"controls_if\" id=\"9tGk|M6u455Nu1(SI}{K\"><value name=\"IF0\"><block type=\"variables_get\" id=\"9}[hrA3rOFo0n+BAsX-f\"><field name=\"VAR\" id=\"JU]w:x,u6R_]KGB{:XP:\" variabletype=\"\">face_x</field></block></value><statement name=\"DO0\"><block type=\"controls_if\" id=\"1-%~}MODhI#*$?^aB_tS\"><mutation elseif=\"1\" else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"`rz$_58rWb#ufStSd](T\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"variables_get\" id=\"O}zML^tGL7t3C*mWsEMo\"><field name=\"VAR\" id=\"JU]w:x,u6R_]KGB{:XP:\" variabletype=\"\">face_x</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"gdx{O}:M_*b|FpvgG_~h\"><field name=\"NUM\">-10</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\" id=\"@[^uw~TU^Vti#)6HZC?K\"><field name=\"ACTION\">LEFT</field><value name=\"SPEED\"><block type=\"math_number\" id=\"vt6%MV@vkT*tB]%2:7vQ\"><field name=\"NUM\">80</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"d3[F3QtIG#jb=1IPOem)\"><field name=\"NUM\">0.1</field></block></value></block></statement><value name=\"IF1\"><block type=\"logic_compare\" id=\"/zef{/F+:n[eI1@+MIKR\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"variables_get\" id=\"dh8opiswQU13wjT![yV[\"><field name=\"VAR\" id=\"JU]w:x,u6R_]KGB{:XP:\" variabletype=\"\">face_x</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"2RVlzW2}AG#ywuHP6N=+\"><field name=\"NUM\">10</field></block></value></block></value><statement name=\"DO1\"><block type=\"coderbot_adv_move\" id=\"4`Z7%j+MV5(5,BM!RRBA\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_number\" id=\"v`ab`#qs7J5]2XaOp]s[\"><field name=\"NUM\">80</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"A_y%A@DITmnWACnr0]zK\"><field name=\"NUM\">0.1</field></block></value></block></statement><statement name=\"ELSE\"><block type=\"coderbot_adv_stop\" id=\"B/$XZ_Giuo_h#Q?JM{w}\"></block></statement></block></statement></block></next></block></next></block></next></block></next></block></statement></block></xml>", "code": "face = None\nface_x = None\nface_size = None\n\n\nwhile True:\n get_prog_eng().check_end()\n face = get_cam().find_face()\n face_x = face[0]\n face_size = face[1]\n get_cam().set_text(str('face: ') + str(face_x))\n if face_x:\n if face_x < -10:\n get_bot().left(speed=80, elapse=0.1)\n elif face_x > 10:\n get_bot().right(speed=80, elapse=0.1)\n else:\n get_bot().stop()\n", "name": "test_find_face"}
\ No newline at end of file
diff --git a/defaults/programs/program_test_find_path_ahead.json b/defaults/programs/program_test_find_path_ahead.json
index c494a2d2..703325e2 100644
--- a/defaults/programs/program_test_find_path_ahead.json
+++ b/defaults/programs/program_test_find_path_ahead.json
@@ -1 +1 @@
-{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><variables><variable type=\"\" id=\",46fU~j08oojjbw,kof`\">spazio_libero</variable></variables><block type=\"controls_whileUntil\" id=\"18\" x=\"-6\" y=\"95\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"8\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\" id=\"+.ndl3CthRQ~=B/JKR^u\"><field name=\"VAR\" id=\",46fU~j08oojjbw,kof`\" variabletype=\"\">spazio_libero</field><value name=\"VALUE\"><block type=\"coderbot_adv_pathAhead\" id=\"43\"></block></value><next><block type=\"text_print\" id=\"34\"><value name=\"TEXT\"><block type=\"variables_get\" id=\"HvuukI#y0|2p~0G!J^1,\"><field name=\"VAR\" id=\",46fU~j08oojjbw,kof`\" variabletype=\"\">spazio_libero</field></block></value><next><block type=\"controls_if\" id=\"j2kyA19rSa;+oDM_|TW1\"><mutation else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_operation\" id=\".h3ecm+6-QkNKadH^K^x\"><field name=\"OP\">AND</field><value name=\"A\"><block type=\"logic_compare\" id=\"?y*$N(f@|9rhe.mOI}Tw\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"variables_get\" id=\"j(v,2aQSE^A_2Um!%r%j\"><field name=\"VAR\" id=\",46fU~j08oojjbw,kof`\" variabletype=\"\">spazio_libero</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"]@VPRw![OoT^Q6^@}+W]\"><field name=\"NUM\">30</field></block></value></block></value><value name=\"B\"><block type=\"logic_compare\" id=\"!E.x/E#B,Eqe=[6!!UpQ\"><field name=\"OP\">NEQ</field><value name=\"A\"><block type=\"variables_get\" id=\"1|EJ6P/9-k+=y!xD!n59\"><field name=\"VAR\" id=\",46fU~j08oojjbw,kof`\" variabletype=\"\">spazio_libero</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"!3n*B?S(XK~u$1}#F:~N\"><field name=\"NUM\">60</field></block></value></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\" id=\"#SW!Qq8M:4),17-S5HXx\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_number\" id=\"ZIc[_OhSH1e.mz]:tL,?\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"-j(8o/#PiEQEY5L2zbT:\"><field name=\"NUM\">0.2</field></block></value></block></statement><statement name=\"ELSE\"><block type=\"coderbot_adv_move\" id=\"e#qON.)K9J9!}_W`xlWx\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_number\" id=\")C53Vd7c_sC*PsSn0VCM\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"E3zjXN1SRNL5~IQJ|aRQ\"><field name=\"NUM\">0.2</field></block></value></block></statement></block></next></block></next></block></statement></block></xml>", "code": "spazio_libero = None\n\n\nwhile True:\n get_prog_eng().check_end()\n spazio_libero = get_cam().path_ahead()\n get_cam().set_text(spazio_libero)\n if spazio_libero > 30 and spazio_libero != 60:\n get_bot().forward(speed=100, elapse=0.2)\n else:\n get_bot().right(speed=100, elapse=0.2)\n", "name": "path_ahead"}
\ No newline at end of file
+{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><variables><variable type=\"\" id=\",46fU~j08oojjbw,kof`\">spazio_libero</variable></variables><block type=\"controls_whileUntil\" id=\"18\" x=\"-6\" y=\"95\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"8\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\" id=\"+.ndl3CthRQ~=B/JKR^u\"><field name=\"VAR\" id=\",46fU~j08oojjbw,kof`\" variabletype=\"\">spazio_libero</field><value name=\"VALUE\"><block type=\"coderbot_adv_pathAhead\" id=\"43\"></block></value><next><block type=\"text_print\" id=\"34\"><value name=\"TEXT\"><block type=\"variables_get\" id=\"HvuukI#y0|2p~0G!J^1,\"><field name=\"VAR\" id=\",46fU~j08oojjbw,kof`\" variabletype=\"\">spazio_libero</field></block></value><next><block type=\"controls_if\" id=\"j2kyA19rSa;+oDM_|TW1\"><mutation else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_operation\" id=\".h3ecm+6-QkNKadH^K^x\"><field name=\"OP\">AND</field><value name=\"A\"><block type=\"logic_compare\" id=\"?y*$N(f@|9rhe.mOI}Tw\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"variables_get\" id=\"j(v,2aQSE^A_2Um!%r%j\"><field name=\"VAR\" id=\",46fU~j08oojjbw,kof`\" variabletype=\"\">spazio_libero</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"]@VPRw![OoT^Q6^@}+W]\"><field name=\"NUM\">30</field></block></value></block></value><value name=\"B\"><block type=\"logic_compare\" id=\"!E.x/E#B,Eqe=[6!!UpQ\"><field name=\"OP\">NEQ</field><value name=\"A\"><block type=\"variables_get\" id=\"1|EJ6P/9-k+=y!xD!n59\"><field name=\"VAR\" id=\",46fU~j08oojjbw,kof`\" variabletype=\"\">spazio_libero</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"!3n*B?S(XK~u$1}#F:~N\"><field name=\"NUM\">60</field></block></value></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\" id=\"#SW!Qq8M:4),17-S5HXx\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_number\" id=\"ZIc[_OhSH1e.mz]:tL,?\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"-j(8o/#PiEQEY5L2zbT:\"><field name=\"NUM\">0.2</field></block></value></block></statement><statement name=\"ELSE\"><block type=\"coderbot_adv_move\" id=\"e#qON.)K9J9!}_W`xlWx\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_number\" id=\")C53Vd7c_sC*PsSn0VCM\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"E3zjXN1SRNL5~IQJ|aRQ\"><field name=\"NUM\">0.2</field></block></value></block></statement></block></next></block></next></block></statement></block></xml>", "code": "spazio_libero = None\n\n\nwhile True:\n get_prog_eng().check_end()\n spazio_libero = get_cam().path_ahead()\n get_cam().set_text(spazio_libero)\n if spazio_libero > 30 and spazio_libero != 60:\n get_bot().forward(speed=100, elapse=0.2)\n else:\n get_bot().right(speed=100, elapse=0.2)\n", "name": "test_find_path_ahead"}
\ No newline at end of file
diff --git a/defaults/programs/program_test_img_average.json b/defaults/programs/program_test_img_average.json
index 90bacb94..0112e6cb 100644
--- a/defaults/programs/program_test_img_average.json
+++ b/defaults/programs/program_test_img_average.json
@@ -1 +1 @@
-{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><block type=\"controls_whileUntil\" x=\"9\" y=\"103\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"text_print\"><value name=\"TEXT\"><block type=\"coderbot_cam_average\"><field name=\"RETVAL\">V</field></block></value></block></statement></block></xml>", "code": "while True:\n get_prog_eng().check_end()\n get_cam().set_text(get_cam().get_average()[2])\n", "name": "img_average_test"}
\ No newline at end of file
+{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><block type=\"controls_whileUntil\" x=\"9\" y=\"103\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"text_print\"><value name=\"TEXT\"><block type=\"coderbot_cam_average\"><field name=\"RETVAL\">V</field></block></value></block></statement></block></xml>", "code": "while True:\n get_prog_eng().check_end()\n get_cam().set_text(get_cam().get_average()[2])\n", "name": "test_img_average"}
\ No newline at end of file
diff --git a/defaults/programs/program_test_sound_hear.json b/defaults/programs/program_test_sound_hear.json
index 31ff1247..6d9026d6 100644
--- a/defaults/programs/program_test_sound_hear.json
+++ b/defaults/programs/program_test_sound_hear.json
@@ -1 +1 @@
-{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><block type=\"controls_whileUntil\" x=\"-68\" y=\"108\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"text_print\"><value name=\"TEXT\"><block type=\"coderbot_audio_hear\"><value name=\"LEVEL\"><block type=\"math_number\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">1.0</field></block></value></block></value></block></statement></block></xml>", "code": "while True:\n get_prog_eng().check_end()\n get_cam().set_text(get_audio().hear(level=100, elapse=1))\n", "name": "hear_test"}
\ No newline at end of file
+{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><block type=\"controls_whileUntil\" x=\"-68\" y=\"108\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"text_print\"><value name=\"TEXT\"><block type=\"coderbot_audio_hear\"><value name=\"LEVEL\"><block type=\"math_number\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">1.0</field></block></value></block></value></block></statement></block></xml>", "code": "while True:\n get_prog_eng().check_end()\n get_cam().set_text(get_audio().hear(level=100, elapse=1))\n", "name": "test_sound_hear"}
\ No newline at end of file
diff --git a/defaults/programs/program_test_sound_rec.json b/defaults/programs/program_test_sound_rec.json
index de267400..d6740905 100644
--- a/defaults/programs/program_test_sound_rec.json
+++ b/defaults/programs/program_test_sound_rec.json
@@ -1 +1 @@
-{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><variables></variables><block type=\"coderbot_audio_record\" id=\"LAC_$g%]@y$*]*==lpr=\" x=\"9\" y=\"56\"><value name=\"FILENAME\"><block type=\"text\" id=\"E2o@Zpp|6ZDTxst,*K%+\"><field name=\"TEXT\">test01.wav</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"_Ru290cPp#|Il6+AK[34\"><field name=\"NUM\">5</field></block></value></block></xml>", "code": "get_audio().record_to_file(filename='test01.wav', elapse=5)\n", "name": "sound_rec_test"}
\ No newline at end of file
+{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><variables></variables><block type=\"coderbot_audio_record\" id=\"LAC_$g%]@y$*]*==lpr=\" x=\"9\" y=\"56\"><value name=\"FILENAME\"><block type=\"text\" id=\"E2o@Zpp|6ZDTxst,*K%+\"><field name=\"TEXT\">test01.wav</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"_Ru290cPp#|Il6+AK[34\"><field name=\"NUM\">5</field></block></value></block></xml>", "code": "get_audio().record_to_file(filename='test01.wav', elapse=5)\n", "name": "test_sound_rec"}
\ No newline at end of file
From a2e6f39d9fe2ebbe69be79d1b593e973ca1a4d94 Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Tue, 25 Apr 2023 01:05:04 +0100
Subject: [PATCH 03/60] wip
---
coderbot/cloud/__init__.py | 2 +-
defaults/config.json | 8 +++++++-
2 files changed, 8 insertions(+), 2 deletions(-)
diff --git a/coderbot/cloud/__init__.py b/coderbot/cloud/__init__.py
index 7f583fcf..1dc318f8 100644
--- a/coderbot/cloud/__init__.py
+++ b/coderbot/cloud/__init__.py
@@ -57,7 +57,7 @@ def run(self):
logging.info("run.sync.begin")
settings = Config.read()
syncmodes = settings.get("syncmodes", {"settings": "n", "activities": "n", "programs": "n"})
- sync_period = settings.get("sync_period", 10)
+ sync_period = int(settings.get("sync_period", "60"))
# Enter a context with an instance of the API client
with cloud_api_robot_client.ApiClient(self.configuration) as api_client:
diff --git a/defaults/config.json b/defaults/config.json
index c206cc0a..ab8459d0 100644
--- a/defaults/config.json
+++ b/defaults/config.json
@@ -50,5 +50,11 @@
"pid_sample_time":"0.05",
"movement_use_mpu": "false",
"movement_use_motion": "false",
- "movement_use_encoder": "true"
+ "movement_use_encoder": "true",
+ "sync_modes": {
+ "activities":"b",
+ "programs":"b",
+ "settings":"b"
+ },
+ "sync_period":"60"
}
From e17230de49bcaf5fae555007b521602bf3999d0a Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Mon, 8 May 2023 00:03:53 +0100
Subject: [PATCH 04/60] wip
---
coderbot/cloud/__init__.py | 40 +++++++++++++++++++-------------------
1 file changed, 20 insertions(+), 20 deletions(-)
diff --git a/coderbot/cloud/__init__.py b/coderbot/cloud/__init__.py
index 1dc318f8..78f15356 100644
--- a/coderbot/cloud/__init__.py
+++ b/coderbot/cloud/__init__.py
@@ -56,7 +56,7 @@ def run(self):
while(True):
logging.info("run.sync.begin")
settings = Config.read()
- syncmodes = settings.get("syncmodes", {"settings": "n", "activities": "n", "programs": "n"})
+ sync_modes = settings.get("sync_modes", {"settings": "n", "activities": "n", "programs": "n"})
sync_period = int(settings.get("sync_period", "60"))
# Enter a context with an instance of the API client
@@ -64,14 +64,14 @@ def run(self):
# Create an instance of the API class
api_instance = robot_sync_api.RobotSyncApi(api_client)
- self.sync_settings(api_instance, syncmodes["settings"])
- self.sync_activities(api_instance, syncmodes["activities"])
- self.sync_programs(api_instance, syncmodes["programs"])
+ self.sync_settings(api_instance, sync_modes["settings"])
+ self.sync_activities(api_instance, sync_modes["activities"])
+ self.sync_programs(api_instance, sync_modes["programs"])
sleep(sync_period)
logging.info("run.sync.end")
- def sync_settings(self, api_instance, syncmode):
+ def sync_settings(self, api_instance, sync_mode):
try:
# Create an instance of the API class
api_response = api_instance.get_robot_setting()
@@ -81,7 +81,7 @@ def sync_settings(self, api_instance, syncmode):
local_most_recent = datetime.fromisoformat(cloud_setting_object["modified"]).timestamp() < Config.modified()
logging.info("settings.syncing: " + cloud_setting_object.get("id") + " name: " + cloud_setting_object.get("id"))
if cloud_setting != local_setting:
- if syncmode == SYNC_UPSTREAM or (syncmode == SYNC_BIDIRECTIONAL and local_most_recent):
+ if sync_mode == SYNC_UPSTREAM or (sync_mode == SYNC_BIDIRECTIONAL and local_most_recent):
body = Setting(
id = cloud_setting_object.get('id'),
org_id = cloud_setting_object.get('org_id'),
@@ -93,13 +93,13 @@ def sync_settings(self, api_instance, syncmode):
)
api_response = api_instance.set_robot_setting(body)
logging.info("settings.upstream")
- if syncmode == SYNC_DOWNSTREAM: # setting, down
+ if sync_mode == SYNC_DOWNSTREAM: # setting, down
Config.write(cloud_setting.data.setting)
logging.info("settings.downstream")
except cloud_api_robot_client.ApiException as e:
logging.warn("Exception when calling settings RobotSyncApi: %s\n" % e)
- def sync_activities(self, api_instance, syncmode):
+ def sync_activities(self, api_instance, sync_mode):
activities = Activities.get_instance().list()
try:
# Get robot activities
@@ -123,7 +123,7 @@ def sync_activities(self, api_instance, syncmode):
if ac is not None and ac.get("data") != al.get("data"):
al["modified"] = al.get("modified", datetime.now(tz=timezone.utc).isoformat())
local_activity_more_recent = datetime.fromisoformat(ac.get("modified")).timestamp() < datetime.fromisoformat(al.get("modified")).timestamp()
- if syncmode == SYNC_UPSTREAM or (local_activity_more_recent and syncmode == SYNC_BIDIRECTIONAL):
+ if sync_mode == SYNC_UPSTREAM or (local_activity_more_recent and sync_mode == SYNC_BIDIRECTIONAL):
ac["data"] = al.get("data")
ac["modified"] = al.get("modified")
body = Activity(
@@ -138,12 +138,12 @@ def sync_activities(self, api_instance, syncmode):
#logging.info("run.activities.cloud.saving")
api_response = api_instance.set_robot_activity(ac.get("id"), body)
logging.info("activities.update.upstream: " + al.get("name"))
- elif syncmode == "d" or (not local_activity_more_recent and syncmode == SYNC_BIDIRECTIONAL):
+ elif sync_mode == "d" or (not local_activity_more_recent and sync_mode == SYNC_BIDIRECTIONAL):
al["data"] = ac.get("data")
al["modified"] = ac.get("modified")
Activities.get_instance().save(al.get("name"), al)
logging.info("activities.update.downstream: " + al.get("name"))
- elif ac is None and syncmode in [SYNC_UPSTREAM, SYNC_BIDIRECTIONAL]:
+ elif ac is None and sync_mode in [SYNC_UPSTREAM, SYNC_BIDIRECTIONAL]:
body = Activity(
id="",
org_id="",
@@ -158,18 +158,18 @@ def sync_activities(self, api_instance, syncmode):
al["org_id"] = api_response.body["org_id"]
Activities.get_instance().save(al.get("name"), al)
logging.info("activities.create.upstream: " + al.get("name"))
- elif ac is None and syncmode in [SYNC_DOWNSTREAM]:
+ elif ac is None and sync_mode in [SYNC_DOWNSTREAM]:
Activities.get_instance().delete(al.get("name"))
logging.info("activities.delete.downstream: " + al.get("name"))
for k, ac in a_c_m.items():
- if a_l_m.get(k) is None and syncmode in [SYNC_DOWNSTREAM, SYNC_BIDIRECTIONAL]:
+ if a_l_m.get(k) is None and sync_mode in [SYNC_DOWNSTREAM, SYNC_BIDIRECTIONAL]:
Activities.get_instance().save(ac.get("name"), ac)
logging.info("activities.create.downstream: " + ac.get("name"))
except cloud_api_robot_client.ApiException as e:
logging.warn("Exception when calling activities RobotSyncApi: %s\n" % e)
- def sync_programs(self, api_instance, syncmode):
+ def sync_programs(self, api_instance, sync_mode):
programs = list()
programs_to_be_deleted = list()
for p in ProgramEngine.get_instance().prog_list(active_only=False):
@@ -204,12 +204,12 @@ def sync_programs(self, api_instance, syncmode):
pc.get("code") == pl.get("code") and
pc.get("dom_code") == pl.get("dom_code") and
pc.get("status") == pl.get("status"))
- logging.info("programs.syncing: " + str(pl.get("id")) + " name: " + pl.get("name"))
+ logging.info("programs.syncing: " + str(pl.get("id")) + " name: " + pl.get("name") + " sync_mode: " + sync_mode + " pc: " + str(pc))
if pc is not None and not pc_pl_equals:
pl["modified"] = pl.get("modified", datetime.now(tz=timezone.utc).isoformat())
local_program_more_recent = datetime.fromisoformat(pc.get("modified")).timestamp() < datetime.fromisoformat(pl.get("modified")).timestamp()
- if syncmode == SYNC_UPSTREAM or (local_program_more_recent and syncmode == SYNC_BIDIRECTIONAL) and not to_be_deleted:
+ if sync_mode == SYNC_UPSTREAM or (local_program_more_recent and sync_mode == SYNC_BIDIRECTIONAL) and not to_be_deleted:
pc["data"] = pl.get("data")
pc["modified"] = pl.get("modified")
body = Program(
@@ -225,12 +225,12 @@ def sync_programs(self, api_instance, syncmode):
#logging.info("run.activities.cloud.saving")
api_response = api_instance.set_robot_program(pc.get("id"), body)
logging.info("programs.update.upstream: " + pl.get("name"))
- elif syncmode == "d" or (not local_program_more_recent and syncmode == SYNC_BIDIRECTIONAL):
+ elif sync_mode == SYNC_DOWNSTREAM or (not local_program_more_recent and sync_mode == SYNC_BIDIRECTIONAL):
pl["data"] = pc.get("data")
pl["modified"] = pc.get("modified")
ProgramEngine.get_instance().save(program.Program.from_dict(pl))
logging.info("programs.update.downstream: " + pl.get("name"))
- elif pc is None and syncmode in [SYNC_UPSTREAM, SYNC_BIDIRECTIONAL]:
+ elif pc is None and sync_mode in [SYNC_UPSTREAM, SYNC_BIDIRECTIONAL]:
body = Program(
id="",
org_id="",
@@ -246,13 +246,13 @@ def sync_programs(self, api_instance, syncmode):
pl["org_id"] = api_response.body["org_id"]
ProgramEngine.get_instance().save(program.Program.from_dict(pl))
logging.info("programs.create.upstream: " + pl.get("name"))
- elif pc is None and syncmode in [SYNC_DOWNSTREAM]:
+ elif pc is None and sync_mode in [SYNC_DOWNSTREAM]:
ProgramEngine.get_instance().delete(pl.get("name"))
logging.info("programs.delete.downstream: " + pl.get("name"))
# manage programs not present locally in "active" status
for k, pc in p_c_m.items():
- if p_l_m.get(k) is None and syncmode in [SYNC_DOWNSTREAM, SYNC_BIDIRECTIONAL]:
+ if p_l_m.get(k) is None and sync_mode in [SYNC_DOWNSTREAM, SYNC_BIDIRECTIONAL]:
pl = program.Program(name=pc.get("name"),
code=pc.get("code"),
dom_code=pc.get("dom_code"),
From 29b0dc4a0d4e870dbce32c202a201645bce3844a Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Sun, 21 May 2023 23:44:30 +0100
Subject: [PATCH 05/60] wip
---
coderbot/cloud/__init__.py | 62 ++++++++++++++++++++++++++++++++++----
1 file changed, 56 insertions(+), 6 deletions(-)
diff --git a/coderbot/cloud/__init__.py b/coderbot/cloud/__init__.py
index 78f15356..13fd93c9 100644
--- a/coderbot/cloud/__init__.py
+++ b/coderbot/cloud/__init__.py
@@ -27,14 +27,38 @@
from cloud_api_robot_client.model.program import Program
from cloud_api_robot_client.model.robot_data import RobotData
from cloud_api_robot_client.model.setting import Setting
+from cloud_api_robot_client.model.robot_register_data import RobotRegisterData
+from cloud_api_robot_client.model.robot_credentials import RobotCredentials
SYNC_UPSTREAM = 'u'
SYNC_DOWNSTREAM = 'd'
SYNC_BIDIRECTIONAL = 'b'
+AUTH_FILE = "data/auth.json"
+
class CloudManager(threading.Thread):
_instance = None
+ _auth = {}
+
+ @classmethod
+ def get_auth(cls):
+ return cls._auth
+
+ @classmethod
+ def read_auth(cls):
+ with open(AUTH_FILE, 'r') as f:
+ cls._auth = json.load(f)
+ f.close()
+ return cls._auth
+
+ @classmethod
+ def write_auth(cls, auth):
+ cls._auth = auth
+ f = open(AUTH_FILE, 'w')
+ json.dump(cls._auth, f)
+ return cls._auth
+
@classmethod
def get_instance(cls):
if cls._instance is None:
@@ -48,17 +72,22 @@ def __init__(self):
self.configuration = cloud_api_robot_client.Configuration(
host = "http://192.168.1.7:8090/api/v1",
)
- # Configure Bearer authorization: coderbot_auth
- self.configuration.access_token = 'eyJ0eXAiOiJKV1QiLCJhbGciOiJSUzI1NiIsImtpZCI6IkNaMVFtVGM1WGZIV2NfQ1dPVG9kcm1QaXZFNFJ2ckFXaFZ3T28yTm85eDAifQ.eyJpc3MiOiJDb2RlckJvdCBDbG91ZCBBUEkiLCJpYXQiOjE2Nzc3MDI4NjIsImV4cCI6MTcwOTIzODg2MiwiYXVkIjoic3QtYXBpLmNvZGVyYm90Lm9yZyIsInN1YiI6InRwWkpYNFlsNElZd21QSzhEd2JmIiwiZW1haWwiOiJ0cFpKWDRZbDRJWXdtUEs4RHdiZkBib3RzLmNvZGVyYm90Lm9yZyIsInBpY3R1cmUiOiJodHRwczovL3N0LWFwcC5jb2RlcmJvdC5vcmcvcGljdHVyZXMvbm9waWMifQ.WlrYd-n6-WWHUxlz1kqnGl8TkjspVWn1UhKK_RIWyIJVlczD1GkqT4uqkHl2aGnp9I_E2SETUvC3dWkkUBG7qHvUIIZVaVhGpfiQy7WMekEdMnXtsPxK8NsWjHYUTbqz2dyz2Z1eQi5Ydhj4niEWsKCAT2BG-nwTIDxu-uxKrah6AtCGGyGKCQu0qje-qUNCxT5S1Y5RT10XS4Ewl2ROsMr1M6P3EVa0VoSJ26QZlh5jIz-8fhyGspxBHFEnZF-p95vEGCQp6M7epwoesDGVlX4AxEEpPk7c_Pd4c2gNLx1nhpkV26sT_c_NESNTM42tVyH9ZjQ5fxCUOEi_ELJ2vQ'
+ try:
+ self.read_auth()
+ except FileNotFoundError:
+ self.write_auth({})
self.start()
def run(self):
while(True):
- logging.info("run.sync.begin")
settings = Config.read()
+ logging.info("run.sync.begin")
sync_modes = settings.get("sync_modes", {"settings": "n", "activities": "n", "programs": "n"})
sync_period = int(settings.get("sync_period", "60"))
+ token = self.get_token_or_register(settings)
+ self.configuration.access_token = token
+
# Enter a context with an instance of the API client
with cloud_api_robot_client.ApiClient(self.configuration) as api_client:
# Create an instance of the API class
@@ -71,15 +100,36 @@ def run(self):
sleep(sync_period)
logging.info("run.sync.end")
+ def get_token_or_register(self, settings):
+ logging.info("run.check.token")
+ token = self.get_auth().get("token")
+ reg_otp = settings.get("reg_otp")
+ logging.info("otp_reg:" + reg_otp)
+ try:
+ if token is None and reg_otp is not None:
+ with cloud_api_robot_client.ApiClient(self.configuration) as api_client:
+ api_instance = robot_sync_api.RobotSyncApi(api_client)
+ body = RobotRegisterData(
+ otp=reg_otp,
+ )
+ api_response = api_instance.register_robot(body=body)
+ logging.info(api_response.body)
+ token = api_response.body.get("token")
+ self.write_auth({"token":token})
+ return token
+ except cloud_api_robot_client.ApiException as e:
+ logging.warn("Exception when calling register_robot RobotSyncApi: %s\n" % e)
+
def sync_settings(self, api_instance, sync_mode):
try:
# Create an instance of the API class
api_response = api_instance.get_robot_setting()
cloud_setting_object = api_response.body
cloud_setting = json.loads(cloud_setting_object.get('data'))
+
local_setting = Config.read()
- local_most_recent = datetime.fromisoformat(cloud_setting_object["modified"]).timestamp() < Config.modified()
- logging.info("settings.syncing: " + cloud_setting_object.get("id") + " name: " + cloud_setting_object.get("id"))
+ local_most_recent = datetime.fromisoformat(cloud_setting_object.get("modified", "2000-01-01T00:00:00.000000")).timestamp() < Config.modified()
+ logging.info("settings.syncing: " + cloud_setting_object.get("id", "") + " name: " + cloud_setting_object.get("name", ""))
if cloud_setting != local_setting:
if sync_mode == SYNC_UPSTREAM or (sync_mode == SYNC_BIDIRECTIONAL and local_most_recent):
body = Setting(
@@ -184,7 +234,7 @@ def sync_programs(self, api_instance, sync_mode):
api_response = api_instance.get_robot_programs()
cloud_programs = api_response.body
# cloud activities
- p_c_m = {} # activities_cloud_map
+ p_c_m = {} # programs_cloud_map
for p in cloud_programs:
if p.get("status") == program.PROGRAM_STATUS_ACTIVE:
p_c_m[p.get("id")] = p
From 15d215dd1efdbc9def2e6bf238b5cee0874207ef Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Mon, 29 May 2023 00:15:53 +0100
Subject: [PATCH 06/60] wip
---
coderbot/cloud/__init__.py | 67 +++++++++++++++++++++++++-------------
coderbot/program.py | 18 +++++-----
2 files changed, 54 insertions(+), 31 deletions(-)
diff --git a/coderbot/cloud/__init__.py b/coderbot/cloud/__init__.py
index 13fd93c9..76aac01f 100644
--- a/coderbot/cloud/__init__.py
+++ b/coderbot/cloud/__init__.py
@@ -93,8 +93,8 @@ def run(self):
# Create an instance of the API class
api_instance = robot_sync_api.RobotSyncApi(api_client)
- self.sync_settings(api_instance, sync_modes["settings"])
- self.sync_activities(api_instance, sync_modes["activities"])
+ #self.sync_settings(api_instance, sync_modes["settings"])
+ #self.sync_activities(api_instance, sync_modes["activities"])
self.sync_programs(api_instance, sync_modes["programs"])
sleep(sync_period)
@@ -138,6 +138,7 @@ def sync_settings(self, api_instance, sync_mode):
name = cloud_setting_object.get('name'),
description = cloud_setting_object.get('description'),
data = json.dumps(local_setting),
+ kind = local_setting.get("kind", "stock"),
modified = datetime.now().isoformat(),
status = cloud_setting_object.get('status'),
)
@@ -182,6 +183,7 @@ def sync_activities(self, api_instance, sync_mode):
name=al.get("name"),
description=al.get("description"),
data=json.dumps(al.get("data")),
+ kind = al.get("kind", "stock"),
modified=al.get("modified").isoformat(),
status='active',
)
@@ -200,6 +202,7 @@ def sync_activities(self, api_instance, sync_mode):
name=al.get("name"),
description=al.get("description"),
data=json.dumps(al),
+ kind=al.get("kind", "stock"),
modified=al.get("modified", datetime.now(tz=timezone.utc).isoformat()),
status="active",
)
@@ -220,35 +223,38 @@ def sync_activities(self, api_instance, sync_mode):
logging.warn("Exception when calling activities RobotSyncApi: %s\n" % e)
def sync_programs(self, api_instance, sync_mode):
- programs = list()
- programs_to_be_deleted = list()
+ programs_local_user = list()
+ programs_local_stock = list()
+ programs_local_to_be_deleted = list()
for p in ProgramEngine.get_instance().prog_list(active_only=False):
- if not p.get("default"):
+ if p.get("kind") == program.PROGRAM_KIND_USER:
if p.get("status") == program.PROGRAM_STATUS_ACTIVE:
- programs.append(p)
+ programs_local_user.append(p)
elif p.get("status") == program.PROGRAM_STATUS_DELETED:
- programs_to_be_deleted.append(p)
-
+ programs_local_to_be_deleted.append(p)
+ else:
+ programs_local_stock.append(p)
+
try:
- # Get robot activities
+ # Get robot programs
api_response = api_instance.get_robot_programs()
cloud_programs = api_response.body
- # cloud activities
- p_c_m = {} # programs_cloud_map
+ # cloud programs
+ programs_cloud_map = {} # programs_cloud_map
for p in cloud_programs:
if p.get("status") == program.PROGRAM_STATUS_ACTIVE:
- p_c_m[p.get("id")] = p
+ programs_cloud_map[p.get("id")] = p
- p_l_m = {} # activities_local_map
+ programs_local_stock_map = {} # activities_local_map
# local activities no id
- for p in programs:
+ for p in programs_local_stock:
#logging.info("programs.local: " + str(p.get("id")) + " name: " + p.get("name"))
if p.get("id") is not None:
- p_l_m[p.get("id")] = p
+ programs_local_stock_map[p.get("id")] = p
- # manage programs present locally and in "active" status
- for pl in programs:
- pc = p_c_m.get(pl.get("id"))
+ # manage user programs present locally and in "active" status
+ for pl in programs_local_user:
+ pc = programs_cloud_map.get(pl.get("id"))
pc_pl_equals = (pc is not None and
pc.get("name") == pl.get("name") and
pc.get("code") == pl.get("code") and
@@ -257,9 +263,11 @@ def sync_programs(self, api_instance, sync_mode):
logging.info("programs.syncing: " + str(pl.get("id")) + " name: " + pl.get("name") + " sync_mode: " + sync_mode + " pc: " + str(pc))
if pc is not None and not pc_pl_equals:
+ # cloud program exists and is different
pl["modified"] = pl.get("modified", datetime.now(tz=timezone.utc).isoformat())
local_program_more_recent = datetime.fromisoformat(pc.get("modified")).timestamp() < datetime.fromisoformat(pl.get("modified")).timestamp()
if sync_mode == SYNC_UPSTREAM or (local_program_more_recent and sync_mode == SYNC_BIDIRECTIONAL) and not to_be_deleted:
+ # cloud program exists and is less recent
pc["data"] = pl.get("data")
pc["modified"] = pl.get("modified")
body = Program(
@@ -269,6 +277,7 @@ def sync_programs(self, api_instance, sync_mode):
description=pl.get("description"),
code=pl.get("code"),
dom_code=pl.get("dom_code"),
+ kind=pl.get("kind"),
modified=pl.get("modified").isoformat(),
status='active',
)
@@ -276,11 +285,13 @@ def sync_programs(self, api_instance, sync_mode):
api_response = api_instance.set_robot_program(pc.get("id"), body)
logging.info("programs.update.upstream: " + pl.get("name"))
elif sync_mode == SYNC_DOWNSTREAM or (not local_program_more_recent and sync_mode == SYNC_BIDIRECTIONAL):
+ # cloud program exists and is more recent
pl["data"] = pc.get("data")
pl["modified"] = pc.get("modified")
ProgramEngine.get_instance().save(program.Program.from_dict(pl))
logging.info("programs.update.downstream: " + pl.get("name"))
elif pc is None and sync_mode in [SYNC_UPSTREAM, SYNC_BIDIRECTIONAL]:
+ # cloud program does not exist
body = Program(
id="",
org_id="",
@@ -288,6 +299,7 @@ def sync_programs(self, api_instance, sync_mode):
description=pl.get("description", ""),
code=pl.get("code"),
dom_code=pl.get("dom_code"),
+ kind=pl.get("kind"),
modified=pl.get("modified", datetime.now(tz=timezone.utc).isoformat()),
status="active",
)
@@ -297,16 +309,17 @@ def sync_programs(self, api_instance, sync_mode):
ProgramEngine.get_instance().save(program.Program.from_dict(pl))
logging.info("programs.create.upstream: " + pl.get("name"))
elif pc is None and sync_mode in [SYNC_DOWNSTREAM]:
+ # cloud program does not exist, delete locally since sync_mode is downstream
ProgramEngine.get_instance().delete(pl.get("name"))
logging.info("programs.delete.downstream: " + pl.get("name"))
- # manage programs not present locally in "active" status
- for k, pc in p_c_m.items():
- if p_l_m.get(k) is None and sync_mode in [SYNC_DOWNSTREAM, SYNC_BIDIRECTIONAL]:
+ # manage user or stock programs not present locally in "active" status
+ for k, pc in programs_cloud_map.items():
+ if programs_local_stock_map.get(k) is None and sync_mode in [SYNC_DOWNSTREAM, SYNC_BIDIRECTIONAL]:
pl = program.Program(name=pc.get("name"),
code=pc.get("code"),
dom_code=pc.get("dom_code"),
- default=False,
+ kind=pc.get("kind"),
id=pc.get("id"),
modified=datetime.fromisoformat(pc.get("modified")),
status=pc.get("status"))
@@ -314,12 +327,20 @@ def sync_programs(self, api_instance, sync_mode):
logging.info("programs.create.downstream: " + pc.get("name"))
# manage programs to be deleted locally and upstream
- for pl in programs_to_be_deleted:
+ for pl in programs_local_to_be_deleted:
if p.get("id") is not None:
logging.info("programs.delete.upstream: " + pl.get("name"))
api_response = api_instance.delete_robot_program(path_params={"program_id":pl.get("id")})
# delete locally permanently
ProgramEngine.get_instance().delete(pl.get("name"), logical=False)
+ # manage stock programs to be deleted locally
+ for pl in programs_local_stock:
+ ##logging.info("programs.check.stock.locally: " + pl.get("name") + " id: " + str(pl.get("id")))
+ if pl.get("id") is not None and programs_cloud_map.get(pl.get("id")) is None:
+ logging.info("programs.delete.stock.locally: " + pl.get("name"))
+ # delete locally permanently
+ ProgramEngine.get_instance().delete(pl.get("name"), logical=False)
+
except cloud_api_robot_client.ApiException as e:
logging.warn("Exception when calling programs RobotSyncApi: %s\n" % e)
\ No newline at end of file
diff --git a/coderbot/program.py b/coderbot/program.py
index ce787bbf..cc6abed4 100644
--- a/coderbot/program.py
+++ b/coderbot/program.py
@@ -45,6 +45,8 @@
PROGRAMS_PATH_DEFAULTS = "defaults/programs/"
PROGRAM_STATUS_ACTIVE = "active"
PROGRAM_STATUS_DELETED = "deleted"
+PROGRAM_KIND_STOCK = "stock"
+PROGRAM_KIND_USER = "user"
musicPackageManager = musicPackages.MusicPackageManager.get_instance()
@@ -94,7 +96,7 @@ def __init__(self):
logging.info("adding program %s in path %s as default %r", program_name, dirname, ("default" in dirname))
with open(os.path.join(dirname, filename), "r") as f:
program_dict = json.load(f)
- program_dict["default"] = "default" in dirname
+ program_dict["kind"] = PROGRAM_KIND_STOCK
program_dict["status"] = PROGRAM_STATUS_ACTIVE
program = Program.from_dict(program_dict)
self.save(program)
@@ -139,7 +141,7 @@ def load(self, name):
def delete(self, name, logical = True):
with self.lock:
query = Query()
- program_db_entries = self._programs.search((query.name == name) & (query.default == False) & (query.status == PROGRAM_STATUS_ACTIVE))
+ program_db_entries = self._programs.search(query.name == name)
if len(program_db_entries) > 0:
program_db_entry = program_db_entries[0]
if logical:
@@ -179,12 +181,12 @@ class Program:
def dom_code(self):
return self._dom_code
- def __init__(self, name, code=None, dom_code=None, default=False, id=None, modified=None, status=None):
+ def __init__(self, name, code=None, dom_code=None, kind=PROGRAM_KIND_USER, id=None, modified=None, status=None):
self._thread = None
self.name = name
self._dom_code = dom_code
self._code = code
- self._default = default
+ self._kind = kind
self._id = id
self._modified = modified
self._status = status
@@ -218,8 +220,8 @@ def check_end(self):
def is_running(self):
return self._running
- def is_default(self):
- return self._default
+ def is_stock(self):
+ return self._kind == PROGRAM_KIND_STOCK
def run(self, *args):
options = args[0]
@@ -265,7 +267,7 @@ def as_dict(self):
return {'name': self.name,
'dom_code': self._dom_code,
'code': self._code,
- 'default': self._default,
+ 'kind': self._kind,
'id': self._id,
'modified': self._modified.isoformat(),
'status': self._status}
@@ -275,7 +277,7 @@ def from_dict(cls, amap):
return Program(name=amap['name'],
dom_code=amap['dom_code'],
code=amap['code'],
- default=amap.get('default', False),
+ kind=amap.get('kind', PROGRAM_KIND_USER),
id=amap.get('id', None),
modified=datetime.fromisoformat(amap.get('modified', datetime.now().isoformat())),
status=amap.get('status', None),)
From f5a439515ec2a31e9805f4981b84c27c2f79cd98 Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Tue, 30 May 2023 00:17:25 +0100
Subject: [PATCH 07/60] wip
---
coderbot/activity.py | 18 ++++++++--
coderbot/cloud/__init__.py | 67 ++++++++++++++++++++++++++++----------
2 files changed, 64 insertions(+), 21 deletions(-)
diff --git a/coderbot/activity.py b/coderbot/activity.py
index 19e3d102..7b810ccf 100644
--- a/coderbot/activity.py
+++ b/coderbot/activity.py
@@ -1,6 +1,12 @@
from tinydb import TinyDB, Query
from threading import Lock
# Programs and Activities databases
+
+ACTIVITY_STATUS_DELETED = "deleted"
+ACTIVITY_STATUS_ACTIVE = "active"
+ACTIVITY_KIND_STOCK = "stock"
+ACTIVITY_KIND_USER = "user"
+
class Activities():
_instance = None
@@ -37,15 +43,21 @@ def save(self, name, activity):
else:
self.activities.update(activity, self.query.name == activity["name"])
- def delete(self, name):
+ def delete(self, name, logical = True):
with self.lock:
activities = self.activities.search(self.query.name == name)
if len(activities) > 0:
activity = activities[0]
if activity.get("default", False) is True:
self.activities.update({'default': True}, self.query.stock == True)
- self.activities.remove(self.query.name == activity["name"])
+ if logical:
+ activity["status"] = ACTIVITY_STATUS_DELETED
+ activity["modified"] = datetime.now().isoformat()
+ self.activities.update(activity, query.name == name)
+ else:
+ self.activities.remove(self.query.name == activity["name"])
+
- def list(self):
+ def list(self, active_only = True):
with self.lock:
return self.activities.all()
diff --git a/coderbot/cloud/__init__.py b/coderbot/cloud/__init__.py
index 76aac01f..ecb3b359 100644
--- a/coderbot/cloud/__init__.py
+++ b/coderbot/cloud/__init__.py
@@ -20,6 +20,7 @@
from activity import Activities
from program import ProgramEngine
import program
+import activity
import cloud_api_robot_client
from cloud_api_robot_client.apis.tags import robot_sync_api
@@ -94,7 +95,7 @@ def run(self):
api_instance = robot_sync_api.RobotSyncApi(api_client)
#self.sync_settings(api_instance, sync_modes["settings"])
- #self.sync_activities(api_instance, sync_modes["activities"])
+ self.sync_activities(api_instance, sync_modes["activities"])
self.sync_programs(api_instance, sync_modes["programs"])
sleep(sync_period)
@@ -151,26 +152,37 @@ def sync_settings(self, api_instance, sync_mode):
logging.warn("Exception when calling settings RobotSyncApi: %s\n" % e)
def sync_activities(self, api_instance, sync_mode):
- activities = Activities.get_instance().list()
+ activities_local_user = list()
+ activities_local_stock = list()
+ activities_local_to_be_deleted = list()
+ for p in Activities.get_instance().list(active_only=False):
+ if p.get("kind") == activity.ACTIVITY_KIND_USER:
+ if p.get("status") == activity.ACTIVITY_STATUS_ACTIVE:
+ activities_local_user.append(p)
+ elif p.get("status") == activity.ACTIVITY_STATUS_ACTIVE:
+ activities_local_to_be_deleted.append(p)
+ else:
+ activities_local_stock.append(p)
try:
# Get robot activities
api_response = api_instance.get_robot_activities()
cloud_activities = api_response.body
# cloud activities
- a_c_m = {} # activities_cloud_map
+ activities_cloud_map = {}
for a in cloud_activities:
- a_c_m[a.get("id")] = a
+ if a.get("status") == activity.ACTIVITY_STATUS_ACTIVE:
+ activities_cloud_map[a.get("id")] = a
- a_l_m = {} # activities_local_map
+ activities_local_map = {}
# local activities no id
- for a in activities:
+ for a in activities_local_user:
if a.get("id") is not None:
- a_l_m[a.get("id")] = a
+ activities_local_map[a.get("id")] = a
# loop through local
- for al in activities:
+ for al in activities_local_user:
logging.info("activities.syncing: " + str(al.get("id")) + " name: " + str(al.get("name")))
- ac = a_c_m.get(al.get("id"))
+ ac = activities_cloud_map.get(al.get("id"))
if ac is not None and ac.get("data") != al.get("data"):
al["modified"] = al.get("modified", datetime.now(tz=timezone.utc).isoformat())
local_activity_more_recent = datetime.fromisoformat(ac.get("modified")).timestamp() < datetime.fromisoformat(al.get("modified")).timestamp()
@@ -214,11 +226,28 @@ def sync_activities(self, api_instance, sync_mode):
elif ac is None and sync_mode in [SYNC_DOWNSTREAM]:
Activities.get_instance().delete(al.get("name"))
logging.info("activities.delete.downstream: " + al.get("name"))
- for k, ac in a_c_m.items():
- if a_l_m.get(k) is None and sync_mode in [SYNC_DOWNSTREAM, SYNC_BIDIRECTIONAL]:
+
+ for k, ac in activities_cloud_map.items():
+ if activities_local_map.get(k) is None and sync_mode in [SYNC_DOWNSTREAM, SYNC_BIDIRECTIONAL]:
Activities.get_instance().save(ac.get("name"), ac)
logging.info("activities.create.downstream: " + ac.get("name"))
+ # manage local user activities to be deleted locally and upstream
+ for al in activities_local_to_be_deleted:
+ if al.get("id") is not None:
+ logging.info("activities.delete.upstream: " + al.get("name"))
+ api_response = api_instance.delete_robot_program(path_params={"activity_id":al.get("id")})
+ # delete locally permanently
+ Activities.get_instance().delete(al.get("name"), logical=False)
+
+ # manage local stock activities to be deleted locally
+ for al in activities_local_stock:
+ # logging.info("programs.check.stock.locally: " + pl.get("name") + " id: " + str(pl.get("id")))
+ if al.get("id") is not None and activities_cloud_map.get(al.get("id")) is None:
+ logging.info("activities.delete.stock.locally: " + al.get("name"))
+ # delete locally permanently
+ Activities.get_instance().delete(al.get("name"), logical=False)
+
except cloud_api_robot_client.ApiException as e:
logging.warn("Exception when calling activities RobotSyncApi: %s\n" % e)
@@ -236,15 +265,16 @@ def sync_programs(self, api_instance, sync_mode):
programs_local_stock.append(p)
try:
- # Get robot programs
+ # Get cloud programs
api_response = api_instance.get_robot_programs()
cloud_programs = api_response.body
- # cloud programs
+ # cloud programs in a map id : program
programs_cloud_map = {} # programs_cloud_map
for p in cloud_programs:
if p.get("status") == program.PROGRAM_STATUS_ACTIVE:
programs_cloud_map[p.get("id")] = p
+ # local programs, stock, in a map id : program
programs_local_stock_map = {} # activities_local_map
# local activities no id
for p in programs_local_stock:
@@ -252,6 +282,7 @@ def sync_programs(self, api_instance, sync_mode):
if p.get("id") is not None:
programs_local_stock_map[p.get("id")] = p
+ # sync local user programs
# manage user programs present locally and in "active" status
for pl in programs_local_user:
pc = programs_cloud_map.get(pl.get("id"))
@@ -263,7 +294,7 @@ def sync_programs(self, api_instance, sync_mode):
logging.info("programs.syncing: " + str(pl.get("id")) + " name: " + pl.get("name") + " sync_mode: " + sync_mode + " pc: " + str(pc))
if pc is not None and not pc_pl_equals:
- # cloud program exists and is different
+ # cloud program exists and is different from local
pl["modified"] = pl.get("modified", datetime.now(tz=timezone.utc).isoformat())
local_program_more_recent = datetime.fromisoformat(pc.get("modified")).timestamp() < datetime.fromisoformat(pl.get("modified")).timestamp()
if sync_mode == SYNC_UPSTREAM or (local_program_more_recent and sync_mode == SYNC_BIDIRECTIONAL) and not to_be_deleted:
@@ -313,7 +344,7 @@ def sync_programs(self, api_instance, sync_mode):
ProgramEngine.get_instance().delete(pl.get("name"))
logging.info("programs.delete.downstream: " + pl.get("name"))
- # manage user or stock programs not present locally in "active" status
+ # manage cloud programs not present locally in "active" status
for k, pc in programs_cloud_map.items():
if programs_local_stock_map.get(k) is None and sync_mode in [SYNC_DOWNSTREAM, SYNC_BIDIRECTIONAL]:
pl = program.Program(name=pc.get("name"),
@@ -326,15 +357,15 @@ def sync_programs(self, api_instance, sync_mode):
ProgramEngine.get_instance().save(pl)
logging.info("programs.create.downstream: " + pc.get("name"))
- # manage programs to be deleted locally and upstream
+ # manage local user programs to be deleted locally and upstream
for pl in programs_local_to_be_deleted:
- if p.get("id") is not None:
+ if pl.get("id") is not None:
logging.info("programs.delete.upstream: " + pl.get("name"))
api_response = api_instance.delete_robot_program(path_params={"program_id":pl.get("id")})
# delete locally permanently
ProgramEngine.get_instance().delete(pl.get("name"), logical=False)
- # manage stock programs to be deleted locally
+ # manage local stock programs to be deleted locally
for pl in programs_local_stock:
##logging.info("programs.check.stock.locally: " + pl.get("name") + " id: " + str(pl.get("id")))
if pl.get("id") is not None and programs_cloud_map.get(pl.get("id")) is None:
From 57b2f03fc05dc6b48463683adc85bcbfd658c049 Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Fri, 2 Jun 2023 00:35:37 +0100
Subject: [PATCH 08/60] wip
---
coderbot/activity.py | 8 +++++
coderbot/cloud/__init__.py | 66 ++++++++++++++++++++------------------
coderbot/program.py | 15 +++++----
coderbot/v1.yml | 6 ++--
4 files changed, 54 insertions(+), 41 deletions(-)
diff --git a/coderbot/activity.py b/coderbot/activity.py
index 7b810ccf..d3be07a2 100644
--- a/coderbot/activity.py
+++ b/coderbot/activity.py
@@ -7,6 +7,14 @@
ACTIVITY_KIND_STOCK = "stock"
ACTIVITY_KIND_USER = "user"
+class Activity():
+ def __init__(self, name, description, data, kind, status):
+ self._name = name
+ self._description = description
+ self._data = data
+ self._kind = kind
+ self._status = status
+
class Activities():
_instance = None
diff --git a/coderbot/cloud/__init__.py b/coderbot/cloud/__init__.py
index ecb3b359..39e85079 100644
--- a/coderbot/cloud/__init__.py
+++ b/coderbot/cloud/__init__.py
@@ -17,7 +17,7 @@
from time import sleep
from config import Config
-from activity import Activities
+from activity import Activities, ACTIVITY_KIND_USER, ACTIVITY_KIND_STOCK, ACTIVITY_STATUS_ACTIVE, ACTIVITY_STATUS_DELETED
from program import ProgramEngine
import program
import activity
@@ -94,7 +94,7 @@ def run(self):
# Create an instance of the API class
api_instance = robot_sync_api.RobotSyncApi(api_client)
- #self.sync_settings(api_instance, sync_modes["settings"])
+ self.sync_settings(api_instance, sync_modes["settings"])
self.sync_activities(api_instance, sync_modes["activities"])
self.sync_programs(api_instance, sync_modes["programs"])
@@ -130,7 +130,7 @@ def sync_settings(self, api_instance, sync_mode):
local_setting = Config.read()
local_most_recent = datetime.fromisoformat(cloud_setting_object.get("modified", "2000-01-01T00:00:00.000000")).timestamp() < Config.modified()
- logging.info("settings.syncing: " + cloud_setting_object.get("id", "") + " name: " + cloud_setting_object.get("name", ""))
+ # logging.info("settings.syncing: " + cloud_setting_object.get("id", "") + " name: " + cloud_setting_object.get("name", ""))
if cloud_setting != local_setting:
if sync_mode == SYNC_UPSTREAM or (sync_mode == SYNC_BIDIRECTIONAL and local_most_recent):
body = Setting(
@@ -155,14 +155,19 @@ def sync_activities(self, api_instance, sync_mode):
activities_local_user = list()
activities_local_stock = list()
activities_local_to_be_deleted = list()
- for p in Activities.get_instance().list(active_only=False):
- if p.get("kind") == activity.ACTIVITY_KIND_USER:
- if p.get("status") == activity.ACTIVITY_STATUS_ACTIVE:
- activities_local_user.append(p)
- elif p.get("status") == activity.ACTIVITY_STATUS_ACTIVE:
- activities_local_to_be_deleted.append(p)
+ activities_local_map = {}
+ for a in Activities.get_instance().list(active_only=False):
+ if a.get("kind") == ACTIVITY_KIND_USER:
+ if a.get("status") == ACTIVITY_STATUS_ACTIVE:
+ activities_local_user.append(a)
+ if a.get("id") is not None:
+ activities_local_map[a.get("id")] = a
+ elif a.get("status") == ACTIVITY_STATUS_DELETED:
+ activities_local_to_be_deleted.append(a)
else:
- activities_local_stock.append(p)
+ activities_local_stock.append(a)
+ if a.get("id") is not None:
+ activities_local_map[a.get("id")] = a
try:
# Get robot activities
api_response = api_instance.get_robot_activities()
@@ -170,20 +175,15 @@ def sync_activities(self, api_instance, sync_mode):
# cloud activities
activities_cloud_map = {}
for a in cloud_activities:
- if a.get("status") == activity.ACTIVITY_STATUS_ACTIVE:
+ if a.get("status") == ACTIVITY_STATUS_ACTIVE:
activities_cloud_map[a.get("id")] = a
- activities_local_map = {}
- # local activities no id
- for a in activities_local_user:
- if a.get("id") is not None:
- activities_local_map[a.get("id")] = a
-
# loop through local
for al in activities_local_user:
logging.info("activities.syncing: " + str(al.get("id")) + " name: " + str(al.get("name")))
ac = activities_cloud_map.get(al.get("id"))
- if ac is not None and ac.get("data") != al.get("data"):
+ ac_al_equals = (ac is not None and ac.get("data") == al.get("data"))
+ if ac is not None and not ac_al_equals:
al["modified"] = al.get("modified", datetime.now(tz=timezone.utc).isoformat())
local_activity_more_recent = datetime.fromisoformat(ac.get("modified")).timestamp() < datetime.fromisoformat(al.get("modified")).timestamp()
if sync_mode == SYNC_UPSTREAM or (local_activity_more_recent and sync_mode == SYNC_BIDIRECTIONAL):
@@ -229,8 +229,15 @@ def sync_activities(self, api_instance, sync_mode):
for k, ac in activities_cloud_map.items():
if activities_local_map.get(k) is None and sync_mode in [SYNC_DOWNSTREAM, SYNC_BIDIRECTIONAL]:
- Activities.get_instance().save(ac.get("name"), ac)
logging.info("activities.create.downstream: " + ac.get("name"))
+ activity = json.loads(ac.get("data"))
+ activity["id"] = ac.get("id")
+ activity["org_id"] = ac.get("org_id")
+ activity["name"] = ac.get("name")
+ activity["description"] = ac.get("description")
+ activity["kind"] = ac.get("kind")
+ activity["status"] = ac.get("status")
+ Activities.get_instance().save(ac.get("name"), activity)
# manage local user activities to be deleted locally and upstream
for al in activities_local_to_be_deleted:
@@ -242,7 +249,7 @@ def sync_activities(self, api_instance, sync_mode):
# manage local stock activities to be deleted locally
for al in activities_local_stock:
- # logging.info("programs.check.stock.locally: " + pl.get("name") + " id: " + str(pl.get("id")))
+ # logging.info("activities.check.stock.locally: " + al.get("name") + " id: " + str(al.get("id")))
if al.get("id") is not None and activities_cloud_map.get(al.get("id")) is None:
logging.info("activities.delete.stock.locally: " + al.get("name"))
# delete locally permanently
@@ -254,15 +261,20 @@ def sync_activities(self, api_instance, sync_mode):
def sync_programs(self, api_instance, sync_mode):
programs_local_user = list()
programs_local_stock = list()
+ programs_local_map = {}
programs_local_to_be_deleted = list()
for p in ProgramEngine.get_instance().prog_list(active_only=False):
if p.get("kind") == program.PROGRAM_KIND_USER:
if p.get("status") == program.PROGRAM_STATUS_ACTIVE:
programs_local_user.append(p)
+ if p.get("id") is not None:
+ programs_local_map[p.get("id")] = p
elif p.get("status") == program.PROGRAM_STATUS_DELETED:
programs_local_to_be_deleted.append(p)
else:
programs_local_stock.append(p)
+ if p.get("id") is not None:
+ programs_local_map[p.get("id")] = p
try:
# Get cloud programs
@@ -274,14 +286,6 @@ def sync_programs(self, api_instance, sync_mode):
if p.get("status") == program.PROGRAM_STATUS_ACTIVE:
programs_cloud_map[p.get("id")] = p
- # local programs, stock, in a map id : program
- programs_local_stock_map = {} # activities_local_map
- # local activities no id
- for p in programs_local_stock:
- #logging.info("programs.local: " + str(p.get("id")) + " name: " + p.get("name"))
- if p.get("id") is not None:
- programs_local_stock_map[p.get("id")] = p
-
# sync local user programs
# manage user programs present locally and in "active" status
for pl in programs_local_user:
@@ -291,7 +295,7 @@ def sync_programs(self, api_instance, sync_mode):
pc.get("code") == pl.get("code") and
pc.get("dom_code") == pl.get("dom_code") and
pc.get("status") == pl.get("status"))
- logging.info("programs.syncing: " + str(pl.get("id")) + " name: " + pl.get("name") + " sync_mode: " + sync_mode + " pc: " + str(pc))
+ logging.info("programs.syncing: " + str(pl.get("id")) + " name: " + pl.get("name"))
if pc is not None and not pc_pl_equals:
# cloud program exists and is different from local
@@ -346,7 +350,7 @@ def sync_programs(self, api_instance, sync_mode):
# manage cloud programs not present locally in "active" status
for k, pc in programs_cloud_map.items():
- if programs_local_stock_map.get(k) is None and sync_mode in [SYNC_DOWNSTREAM, SYNC_BIDIRECTIONAL]:
+ if programs_local_map.get(k) is None and sync_mode in [SYNC_DOWNSTREAM, SYNC_BIDIRECTIONAL]:
pl = program.Program(name=pc.get("name"),
code=pc.get("code"),
dom_code=pc.get("dom_code"),
@@ -367,7 +371,7 @@ def sync_programs(self, api_instance, sync_mode):
# manage local stock programs to be deleted locally
for pl in programs_local_stock:
- ##logging.info("programs.check.stock.locally: " + pl.get("name") + " id: " + str(pl.get("id")))
+ # logging.info("programs.check.stock.locally: " + pl.get("name") + " id: " + str(pl.get("id")))
if pl.get("id") is not None and programs_cloud_map.get(pl.get("id")) is None:
logging.info("programs.delete.stock.locally: " + pl.get("name"))
# delete locally permanently
diff --git a/coderbot/program.py b/coderbot/program.py
index cc6abed4..14fa8858 100644
--- a/coderbot/program.py
+++ b/coderbot/program.py
@@ -122,8 +122,8 @@ def save(self, program):
program._modified = datetime.now()
self._program = program
program_db_entry = self._program.as_dict()
- if self._programs.search(query.name == program.name) != []:
- self._programs.update(program_db_entry, query.name == program.name)
+ if self._programs.search(query.name == program._name) != []:
+ self._programs.update(program_db_entry, query.name == program._name)
else:
self._programs.insert(program_db_entry)
@@ -157,7 +157,7 @@ def create(self, name, code):
return self._program
def is_running(self, name):
- return self._program.is_running() and self._program.name == name
+ return self._program.is_running() and self._program._name == name
def check_end(self):
return self._program.check_end()
@@ -181,9 +181,10 @@ class Program:
def dom_code(self):
return self._dom_code
- def __init__(self, name, code=None, dom_code=None, kind=PROGRAM_KIND_USER, id=None, modified=None, status=None):
+ def __init__(self, name, description=None, code=None, dom_code=None, kind=PROGRAM_KIND_USER, id=None, modified=None, status=None):
self._thread = None
- self.name = name
+ self._name = name
+ self._description = description
self._dom_code = dom_code
self._code = code
self._kind = kind
@@ -229,7 +230,7 @@ def run(self, *args):
program = self
try:
if options.get("autoRecVideo") == True:
- get_cam().video_rec(program.name.replace(" ", "_"))
+ get_cam().video_rec(program._name.replace(" ", "_"))
logging.debug("starting video")
except Exception as e:
logging.error("Camera not available: " + str(e))
@@ -264,7 +265,7 @@ def run(self, *args):
def as_dict(self):
- return {'name': self.name,
+ return {'name': self._name,
'dom_code': self._dom_code,
'code': self._code,
'kind': self._kind,
diff --git a/coderbot/v1.yml b/coderbot/v1.yml
index a3c8872f..787053d1 100644
--- a/coderbot/v1.yml
+++ b/coderbot/v1.yml
@@ -715,11 +715,11 @@ components:
maxLength: 256
default:
type: boolean
- stock:
- type: boolean
+ kind:
+ type: string
required:
- name
- description
- default
- - stock
+ - kind
From 19a4398bfcac4794d76f337fd822d83f61c09d18 Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Sat, 3 Jun 2023 00:24:52 +0100
Subject: [PATCH 09/60] wip
---
coderbot/cloud/__init__.py | 73 +++++++++++++++++++++-----------------
1 file changed, 41 insertions(+), 32 deletions(-)
diff --git a/coderbot/cloud/__init__.py b/coderbot/cloud/__init__.py
index 39e85079..e5f79e80 100644
--- a/coderbot/cloud/__init__.py
+++ b/coderbot/cloud/__init__.py
@@ -35,6 +35,9 @@
SYNC_DOWNSTREAM = 'd'
SYNC_BIDIRECTIONAL = 'b'
+ENTITY_KIND_USER = "user"
+ENTITY_KIND_STOCK = "stock"
+
AUTH_FILE = "data/auth.json"
class CloudManager(threading.Thread):
@@ -86,17 +89,20 @@ def run(self):
sync_modes = settings.get("sync_modes", {"settings": "n", "activities": "n", "programs": "n"})
sync_period = int(settings.get("sync_period", "60"))
- token = self.get_token_or_register(settings)
- self.configuration.access_token = token
+ try:
+ token = self.get_token_or_register(settings)
+ self.configuration.access_token = token
- # Enter a context with an instance of the API client
- with cloud_api_robot_client.ApiClient(self.configuration) as api_client:
- # Create an instance of the API class
- api_instance = robot_sync_api.RobotSyncApi(api_client)
-
- self.sync_settings(api_instance, sync_modes["settings"])
- self.sync_activities(api_instance, sync_modes["activities"])
- self.sync_programs(api_instance, sync_modes["programs"])
+ # Enter a context with an instance of the API client
+ with cloud_api_robot_client.ApiClient(self.configuration) as api_client:
+ # Create an instance of the API class
+ api_instance = robot_sync_api.RobotSyncApi(api_client)
+
+ self.sync_settings(api_instance, sync_modes["settings"])
+ self.sync_activities(api_instance, sync_modes["activities"])
+ self.sync_programs(api_instance, sync_modes["programs"])
+ except Exception as e:
+ logging.warn("run.sync.api_not_available: " + str(e))
sleep(sync_period)
logging.info("run.sync.end")
@@ -105,9 +111,9 @@ def get_token_or_register(self, settings):
logging.info("run.check.token")
token = self.get_auth().get("token")
reg_otp = settings.get("reg_otp")
- logging.info("otp_reg:" + reg_otp)
try:
if token is None and reg_otp is not None:
+ logging.info("run.get_token_or_register.get_token")
with cloud_api_robot_client.ApiClient(self.configuration) as api_client:
api_instance = robot_sync_api.RobotSyncApi(api_client)
body = RobotRegisterData(
@@ -121,33 +127,36 @@ def get_token_or_register(self, settings):
except cloud_api_robot_client.ApiException as e:
logging.warn("Exception when calling register_robot RobotSyncApi: %s\n" % e)
+ # sync settings
def sync_settings(self, api_instance, sync_mode):
+ # Sync settings is different from syncing other entities, like activities and programs, since there can only
+ # be a single entity for each robot (both device and cloud twin).
+ # So the algo is simpler and favorites the "stock" entity over the "user" entity, if available.
try:
- # Create an instance of the API class
api_response = api_instance.get_robot_setting()
cloud_setting_object = api_response.body
cloud_setting = json.loads(cloud_setting_object.get('data'))
local_setting = Config.read()
- local_most_recent = datetime.fromisoformat(cloud_setting_object.get("modified", "2000-01-01T00:00:00.000000")).timestamp() < Config.modified()
+ local_most_recent = datetime.fromisoformat(cloud_setting_object.get("modified")).timestamp() < Config.modified()
+ cloud_kind_user = cloud_setting_object.get("kind") == ENTITY_KIND_USER
# logging.info("settings.syncing: " + cloud_setting_object.get("id", "") + " name: " + cloud_setting_object.get("name", ""))
- if cloud_setting != local_setting:
- if sync_mode == SYNC_UPSTREAM or (sync_mode == SYNC_BIDIRECTIONAL and local_most_recent):
- body = Setting(
- id = cloud_setting_object.get('id'),
- org_id = cloud_setting_object.get('org_id'),
- name = cloud_setting_object.get('name'),
- description = cloud_setting_object.get('description'),
- data = json.dumps(local_setting),
- kind = local_setting.get("kind", "stock"),
- modified = datetime.now().isoformat(),
- status = cloud_setting_object.get('status'),
- )
- api_response = api_instance.set_robot_setting(body)
- logging.info("settings.upstream")
- if sync_mode == SYNC_DOWNSTREAM: # setting, down
- Config.write(cloud_setting.data.setting)
- logging.info("settings.downstream")
+ if cloud_kind_user and cloud_setting != local_setting and local_most_recent:
+ body = Setting(
+ id = cloud_setting_object.get('id'),
+ org_id = cloud_setting_object.get('org_id'),
+ name = cloud_setting_object.get('name'),
+ description = cloud_setting_object.get('description'),
+ data = json.dumps(local_setting),
+ kind = local_setting.get("kind", ENTITY_KIND_STOCK),
+ modified = datetime.now().isoformat(),
+ status = cloud_setting_object.get('status'),
+ )
+ api_response = api_instance.set_robot_setting(body)
+ logging.info("settings.upstream")
+ elif cloud_setting != local_setting: # setting, down
+ Config.write(cloud_setting.data.setting)
+ logging.info("settings.downstream")
except cloud_api_robot_client.ApiException as e:
logging.warn("Exception when calling settings RobotSyncApi: %s\n" % e)
@@ -195,7 +204,7 @@ def sync_activities(self, api_instance, sync_mode):
name=al.get("name"),
description=al.get("description"),
data=json.dumps(al.get("data")),
- kind = al.get("kind", "stock"),
+ kind = al.get("kind", ENTITY_KIND_STOCK),
modified=al.get("modified").isoformat(),
status='active',
)
@@ -214,7 +223,7 @@ def sync_activities(self, api_instance, sync_mode):
name=al.get("name"),
description=al.get("description"),
data=json.dumps(al),
- kind=al.get("kind", "stock"),
+ kind=al.get("kind", ENTITY_KIND_STOCK),
modified=al.get("modified", datetime.now(tz=timezone.utc).isoformat()),
status="active",
)
From 9377a573d922ffb97259dcb785ef5677dfc0a530 Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Mon, 5 Jun 2023 00:04:27 +0100
Subject: [PATCH 10/60] wip
---
requirements.txt | 1 +
1 file changed, 1 insertion(+)
diff --git a/requirements.txt b/requirements.txt
index 35aad39d..6734cd58 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -4,6 +4,7 @@ Flask==2.2.3
Flask-Cors==3.0.10
tinydb==4.7.1
Werkzeug==2.2.3
+cloud_api_robot_client @ git+https://github.com/CoderBotOrg/cloud_api_robot_client.git
# Misc utils
setuptools==67.4.0
From 1cf11aaa6b1ea87ebbe38e754c28161b92747eff Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Mon, 5 Jun 2023 00:09:13 +0100
Subject: [PATCH 11/60] wip
---
.github/workflows/build_backend.yml | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/.github/workflows/build_backend.yml b/.github/workflows/build_backend.yml
index 0331b4c8..cdd253c5 100644
--- a/.github/workflows/build_backend.yml
+++ b/.github/workflows/build_backend.yml
@@ -22,7 +22,7 @@ jobs:
- run: |
export PYTHONPATH=./stub:./coderbot:./test
python3 coderbot/main.py > coderbot.log &
- sleep 30
+ sleep 60
apt-get install -y python3-venv
mkdir -p schemathesis
python3 -m venv schemathesis
From 8f0e3774b7e6f8a6116ff4a0aa83b09d0a075cde Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Mon, 5 Jun 2023 00:10:22 +0100
Subject: [PATCH 12/60] wip
---
docker/stub/requirements.txt | 1 +
1 file changed, 1 insertion(+)
diff --git a/docker/stub/requirements.txt b/docker/stub/requirements.txt
index 81c1bc21..a758a746 100644
--- a/docker/stub/requirements.txt
+++ b/docker/stub/requirements.txt
@@ -4,6 +4,7 @@ Flask==2.2.3
Flask-Cors==3.0.10
tinydb==4.7.1
Werkzeug==2.2.3
+cloud_api_robot_client @ git+https://github.com/CoderBotOrg/cloud_api_robot_client.git
# Misc utils
setuptools==67.4.0
From 060707607f7cf6ec73a207454751b2840e26f2e5 Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Mon, 5 Jun 2023 22:26:11 +0100
Subject: [PATCH 13/60] wip
---
.github/workflows/build_backend.yml | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/.github/workflows/build_backend.yml b/.github/workflows/build_backend.yml
index cdd253c5..cd4fdff6 100644
--- a/.github/workflows/build_backend.yml
+++ b/.github/workflows/build_backend.yml
@@ -8,7 +8,7 @@ on: push
jobs:
test:
runs-on: ubuntu-latest
- container: coderbot/coderbot-ci:3.9-bullseye-slim
+ container: ghcr.io/coderbotorg/coderbot-ci:stub-latest
steps:
- uses: actions/checkout@v3 # Checking out the repo
- run: pip install -r docker/stub/requirements.txt
From fba1635434e43a710e89364b50e63d1bbd3e2ea2 Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Mon, 5 Jun 2023 22:30:54 +0100
Subject: [PATCH 14/60] wip
---
.github/workflows/build_backend.yml | 6 +++++-
1 file changed, 5 insertions(+), 1 deletion(-)
diff --git a/.github/workflows/build_backend.yml b/.github/workflows/build_backend.yml
index cd4fdff6..fe547f74 100644
--- a/.github/workflows/build_backend.yml
+++ b/.github/workflows/build_backend.yml
@@ -8,7 +8,11 @@ on: push
jobs:
test:
runs-on: ubuntu-latest
- container: ghcr.io/coderbotorg/coderbot-ci:stub-latest
+ container:
+ image: ghcr.io/coderbotorg/coderbot-ci:stub-latest
+ credentials:
+ username: ${{ github.actor }}
+ password: ${{ secrets.github_token }}
steps:
- uses: actions/checkout@v3 # Checking out the repo
- run: pip install -r docker/stub/requirements.txt
From e5a259292e082b15e7998d758a445e43b638d931 Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Mon, 5 Jun 2023 22:38:32 +0100
Subject: [PATCH 15/60] wip
---
.github/workflows/build_backend.yml | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/.github/workflows/build_backend.yml b/.github/workflows/build_backend.yml
index fe547f74..37dc3a9a 100644
--- a/.github/workflows/build_backend.yml
+++ b/.github/workflows/build_backend.yml
@@ -12,7 +12,7 @@ jobs:
image: ghcr.io/coderbotorg/coderbot-ci:stub-latest
credentials:
username: ${{ github.actor }}
- password: ${{ secrets.github_token }}
+ password: ${{ secrets.GITHUB_TOKEN }}
steps:
- uses: actions/checkout@v3 # Checking out the repo
- run: pip install -r docker/stub/requirements.txt
From 870ea4bfe8da96f75729e8a9d9a0222b53a4add7 Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Mon, 5 Jun 2023 23:44:43 +0200
Subject: [PATCH 16/60] wip
---
.github/workflows/build_backend.yml | 1 +
1 file changed, 1 insertion(+)
diff --git a/.github/workflows/build_backend.yml b/.github/workflows/build_backend.yml
index 37dc3a9a..9cec776a 100644
--- a/.github/workflows/build_backend.yml
+++ b/.github/workflows/build_backend.yml
@@ -13,6 +13,7 @@ jobs:
credentials:
username: ${{ github.actor }}
password: ${{ secrets.GITHUB_TOKEN }}
+
steps:
- uses: actions/checkout@v3 # Checking out the repo
- run: pip install -r docker/stub/requirements.txt
From ab771592ba38652fac19afe2f1e03e112aea5db6 Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Mon, 5 Jun 2023 23:51:13 +0200
Subject: [PATCH 17/60] wip
---
.github/workflows/build_backend.yml | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/.github/workflows/build_backend.yml b/.github/workflows/build_backend.yml
index 9cec776a..3b26c239 100644
--- a/.github/workflows/build_backend.yml
+++ b/.github/workflows/build_backend.yml
@@ -12,8 +12,8 @@ jobs:
image: ghcr.io/coderbotorg/coderbot-ci:stub-latest
credentials:
username: ${{ github.actor }}
- password: ${{ secrets.GITHUB_TOKEN }}
-
+ password: ${{ secrets.GHCR_READ }}
+
steps:
- uses: actions/checkout@v3 # Checking out the repo
- run: pip install -r docker/stub/requirements.txt
From 0b84abb0e64ac186ae9956baba12c4e15d678b06 Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Mon, 5 Jun 2023 22:55:25 +0100
Subject: [PATCH 18/60] wip
---
.github/workflows/build_backend.yml | 1 -
coderbot/activity.py | 1 +
2 files changed, 1 insertion(+), 1 deletion(-)
diff --git a/.github/workflows/build_backend.yml b/.github/workflows/build_backend.yml
index 3b26c239..189d0835 100644
--- a/.github/workflows/build_backend.yml
+++ b/.github/workflows/build_backend.yml
@@ -13,7 +13,6 @@ jobs:
credentials:
username: ${{ github.actor }}
password: ${{ secrets.GHCR_READ }}
-
steps:
- uses: actions/checkout@v3 # Checking out the repo
- run: pip install -r docker/stub/requirements.txt
diff --git a/coderbot/activity.py b/coderbot/activity.py
index d3be07a2..3d4f13f7 100644
--- a/coderbot/activity.py
+++ b/coderbot/activity.py
@@ -1,5 +1,6 @@
from tinydb import TinyDB, Query
from threading import Lock
+from datetime import datetime
# Programs and Activities databases
ACTIVITY_STATUS_DELETED = "deleted"
From cb8f7f9456e33470d7b6e9ab9d82cd2136121693 Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Mon, 5 Jun 2023 23:05:32 +0100
Subject: [PATCH 19/60] wip
---
coderbot/activity.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/coderbot/activity.py b/coderbot/activity.py
index 3d4f13f7..b44bd777 100644
--- a/coderbot/activity.py
+++ b/coderbot/activity.py
@@ -62,7 +62,7 @@ def delete(self, name, logical = True):
if logical:
activity["status"] = ACTIVITY_STATUS_DELETED
activity["modified"] = datetime.now().isoformat()
- self.activities.update(activity, query.name == name)
+ self.activities.update(activity, self.query.name == name)
else:
self.activities.remove(self.query.name == activity["name"])
From 064517271e08abe2bd74fac6f1a387cbbf4820a2 Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Mon, 5 Jun 2023 23:15:13 +0100
Subject: [PATCH 20/60] wip
---
coderbot/api.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/coderbot/api.py b/coderbot/api.py
index a5fe50f5..12d13f23 100644
--- a/coderbot/api.py
+++ b/coderbot/api.py
@@ -340,7 +340,7 @@ def statusProgram(name):
prog = prog_engine.get_current_program()
if prog is None:
prog = Program("")
- return {'name': prog.name, "running": prog.is_running(), "log": prog_engine.get_log()}
+ return {'name': prog._name, "running": prog.is_running(), "log": prog_engine.get_log()}
## Activities
From 304f2210154ba3158ec780a3aca4bf82e25099c6 Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Mon, 5 Jun 2023 23:33:21 +0100
Subject: [PATCH 21/60] wip
---
docker/Dockerfile | 5 +++--
1 file changed, 3 insertions(+), 2 deletions(-)
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 6b88fce8..7f305ebe 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -1,4 +1,4 @@
-FROM coderbot/rpi-debian:bullseye-20220923
+FROM coderbot/rpi-debian:bullseye-20230530
ENV QEMU_CPU=max
ENV DEBIAN_FRONTEND=noninteractive
@@ -19,7 +19,8 @@ RUN install_packages \
libatlas-base-dev \
libhdf5-dev \
alsa-utils \
- espeak
+ espeak \
+ git
RUN install_packages \
libharfbuzz-bin \
libwebp6 \
From affa7264f6c455133e238cf23b7988f80c1c038f Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Mon, 5 Jun 2023 23:46:03 +0100
Subject: [PATCH 22/60] wip
---
coderbot/api.py | 2 +-
coderbot/program.py | 12 ++++++++----
docker/stub/Dockerfile | 1 +
3 files changed, 10 insertions(+), 5 deletions(-)
diff --git a/coderbot/api.py b/coderbot/api.py
index 12d13f23..a5fe50f5 100644
--- a/coderbot/api.py
+++ b/coderbot/api.py
@@ -340,7 +340,7 @@ def statusProgram(name):
prog = prog_engine.get_current_program()
if prog is None:
prog = Program("")
- return {'name': prog._name, "running": prog.is_running(), "log": prog_engine.get_log()}
+ return {'name': prog.name, "running": prog.is_running(), "log": prog_engine.get_log()}
## Activities
diff --git a/coderbot/program.py b/coderbot/program.py
index 14fa8858..a892950e 100644
--- a/coderbot/program.py
+++ b/coderbot/program.py
@@ -122,8 +122,8 @@ def save(self, program):
program._modified = datetime.now()
self._program = program
program_db_entry = self._program.as_dict()
- if self._programs.search(query.name == program._name) != []:
- self._programs.update(program_db_entry, query.name == program._name)
+ if self._programs.search(query.name == program.name) != []:
+ self._programs.update(program_db_entry, query.name == program.name)
else:
self._programs.insert(program_db_entry)
@@ -157,7 +157,7 @@ def create(self, name, code):
return self._program
def is_running(self, name):
- return self._program.is_running() and self._program._name == name
+ return self._program.is_running() and self._program.name == name
def check_end(self):
return self._program.check_end()
@@ -230,7 +230,7 @@ def run(self, *args):
program = self
try:
if options.get("autoRecVideo") == True:
- get_cam().video_rec(program._name.replace(" ", "_"))
+ get_cam().video_rec(program.name.replace(" ", "_"))
logging.debug("starting video")
except Exception as e:
logging.error("Camera not available: " + str(e))
@@ -264,6 +264,10 @@ def run(self, *args):
self._running = False
+ @property
+ def name(self):
+ return self._name
+
def as_dict(self):
return {'name': self._name,
'dom_code': self._dom_code,
diff --git a/docker/stub/Dockerfile b/docker/stub/Dockerfile
index aaf42d81..43180a2a 100644
--- a/docker/stub/Dockerfile
+++ b/docker/stub/Dockerfile
@@ -18,6 +18,7 @@ RUN apt-get update -y && apt-get install -y \
libhdf5-dev \
alsa-utils \
espeak \
+ git \
libharfbuzz-bin \
libwebp6 \
libilmbase25 \
From b2999aa6ca1828ef6986be618cbb261d6b412162 Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Wed, 7 Jun 2023 00:20:31 +0100
Subject: [PATCH 23/60] wip
---
coderbot/api.py | 10 ++-
coderbot/cloud/__init__.py | 133 ++++++++++++++++++++++---------------
coderbot/v1.yml | 31 +++++++++
3 files changed, 120 insertions(+), 54 deletions(-)
diff --git a/coderbot/api.py b/coderbot/api.py
index a5fe50f5..c413f8b6 100644
--- a/coderbot/api.py
+++ b/coderbot/api.py
@@ -22,6 +22,7 @@
from runtime_test import run_test
from musicPackages import MusicPackageManager
from program import Program, ProgramEngine
+from cloud import CloudManager
from balena import Balena
from coderbot import CoderBot
@@ -404,4 +405,11 @@ def deleteCNNModel(name):
cnn = CNNManager.get_instance()
model_status = cnn.delete_model(model_name=name)
- return model_status
\ No newline at end of file
+ return model_status
+
+def cloudSyncRequest():
+ CloudManager.get_instance().sync()
+ return 200
+
+def cloudSyncStatus():
+ return CloudManager.get_instance().sync_status()
\ No newline at end of file
diff --git a/coderbot/cloud/__init__.py b/coderbot/cloud/__init__.py
index e5f79e80..e5b353ce 100644
--- a/coderbot/cloud/__init__.py
+++ b/coderbot/cloud/__init__.py
@@ -70,6 +70,12 @@ def get_instance(cls):
return cls._instance
def __init__(self):
+ self._syncing = False
+ self._sync_status = {
+ "settings": "",
+ "activities": "",
+ "programs": ""
+ }
threading.Thread.__init__(self)
# Defining the host is optional and defaults to https://api.coderbot.org/api/v1
# See configuration.py for a list of all supported configuration parameters.
@@ -84,28 +90,42 @@ def __init__(self):
def run(self):
while(True):
- settings = Config.read()
- logging.info("run.sync.begin")
- sync_modes = settings.get("sync_modes", {"settings": "n", "activities": "n", "programs": "n"})
- sync_period = int(settings.get("sync_period", "60"))
+ sync_period = int(Config.read().get("sync_period", "60"))
+ self.sync()
+ sleep(sync_period)
- try:
- token = self.get_token_or_register(settings)
- self.configuration.access_token = token
+ def syncing(self):
+ return self._syncing
- # Enter a context with an instance of the API client
- with cloud_api_robot_client.ApiClient(self.configuration) as api_client:
- # Create an instance of the API class
- api_instance = robot_sync_api.RobotSyncApi(api_client)
-
- self.sync_settings(api_instance, sync_modes["settings"])
- self.sync_activities(api_instance, sync_modes["activities"])
- self.sync_programs(api_instance, sync_modes["programs"])
- except Exception as e:
- logging.warn("run.sync.api_not_available: " + str(e))
+ def sync_status(self):
+ return self._sync_status
- sleep(sync_period)
- logging.info("run.sync.end")
+ def sync(self):
+ if self._syncing == True:
+ return
+ self._syncing = True
+
+ settings = Config.read()
+ logging.info("run.sync.begin")
+ sync_modes = settings.get("sync_modes", {"settings": "n", "activities": "n", "programs": "n"})
+
+ try:
+ token = self.get_token_or_register(settings)
+ self.configuration.access_token = token
+
+ # Enter a context with an instance of the API client
+ with cloud_api_robot_client.ApiClient(self.configuration) as api_client:
+ # Create an instance of the API class
+ api_instance = robot_sync_api.RobotSyncApi(api_client)
+
+ self.sync_settings(api_instance, sync_modes["settings"])
+ self.sync_activities(api_instance, sync_modes["activities"])
+ self.sync_programs(api_instance, sync_modes["programs"])
+ except Exception as e:
+ logging.warn("run.sync.api_not_available: " + str(e))
+
+ logging.info("run.sync.end")
+ self._syncing = False
def get_token_or_register(self, settings):
logging.info("run.check.token")
@@ -133,6 +153,7 @@ def sync_settings(self, api_instance, sync_mode):
# be a single entity for each robot (both device and cloud twin).
# So the algo is simpler and favorites the "stock" entity over the "user" entity, if available.
try:
+ self._sync_status["settings"] = "syncing"
api_response = api_instance.get_robot_setting()
cloud_setting_object = api_response.body
cloud_setting = json.loads(cloud_setting_object.get('data'))
@@ -155,29 +176,31 @@ def sync_settings(self, api_instance, sync_mode):
api_response = api_instance.set_robot_setting(body)
logging.info("settings.upstream")
elif cloud_setting != local_setting: # setting, down
- Config.write(cloud_setting.data.setting)
+ Config.write(cloud_setting)
logging.info("settings.downstream")
+ self._sync_status["settings"] = "synced"
except cloud_api_robot_client.ApiException as e:
logging.warn("Exception when calling settings RobotSyncApi: %s\n" % e)
def sync_activities(self, api_instance, sync_mode):
- activities_local_user = list()
- activities_local_stock = list()
- activities_local_to_be_deleted = list()
- activities_local_map = {}
- for a in Activities.get_instance().list(active_only=False):
- if a.get("kind") == ACTIVITY_KIND_USER:
- if a.get("status") == ACTIVITY_STATUS_ACTIVE:
- activities_local_user.append(a)
+ try:
+ self._sync_status["activities"] = "syncing"
+ activities_local_user = list()
+ activities_local_stock = list()
+ activities_local_to_be_deleted = list()
+ activities_local_map = {}
+ for a in Activities.get_instance().list(active_only=False):
+ if a.get("kind") == ACTIVITY_KIND_USER:
+ if a.get("status") == ACTIVITY_STATUS_ACTIVE:
+ activities_local_user.append(a)
+ if a.get("id") is not None:
+ activities_local_map[a.get("id")] = a
+ elif a.get("status") == ACTIVITY_STATUS_DELETED:
+ activities_local_to_be_deleted.append(a)
+ else:
+ activities_local_stock.append(a)
if a.get("id") is not None:
activities_local_map[a.get("id")] = a
- elif a.get("status") == ACTIVITY_STATUS_DELETED:
- activities_local_to_be_deleted.append(a)
- else:
- activities_local_stock.append(a)
- if a.get("id") is not None:
- activities_local_map[a.get("id")] = a
- try:
# Get robot activities
api_response = api_instance.get_robot_activities()
cloud_activities = api_response.body
@@ -264,28 +287,31 @@ def sync_activities(self, api_instance, sync_mode):
# delete locally permanently
Activities.get_instance().delete(al.get("name"), logical=False)
+ self._sync_status["activities"] = "synced"
except cloud_api_robot_client.ApiException as e:
logging.warn("Exception when calling activities RobotSyncApi: %s\n" % e)
+ self._sync_status["activities"] = "failed"
def sync_programs(self, api_instance, sync_mode):
- programs_local_user = list()
- programs_local_stock = list()
- programs_local_map = {}
- programs_local_to_be_deleted = list()
- for p in ProgramEngine.get_instance().prog_list(active_only=False):
- if p.get("kind") == program.PROGRAM_KIND_USER:
- if p.get("status") == program.PROGRAM_STATUS_ACTIVE:
- programs_local_user.append(p)
+ try:
+ self._sync_status["programs"] = "syncing"
+ programs_local_user = list()
+ programs_local_stock = list()
+ programs_local_map = {}
+ programs_local_to_be_deleted = list()
+ for p in ProgramEngine.get_instance().prog_list(active_only=False):
+ if p.get("kind") == program.PROGRAM_KIND_USER:
+ if p.get("status") == program.PROGRAM_STATUS_ACTIVE:
+ programs_local_user.append(p)
+ if p.get("id") is not None:
+ programs_local_map[p.get("id")] = p
+ elif p.get("status") == program.PROGRAM_STATUS_DELETED:
+ programs_local_to_be_deleted.append(p)
+ else:
+ programs_local_stock.append(p)
if p.get("id") is not None:
programs_local_map[p.get("id")] = p
- elif p.get("status") == program.PROGRAM_STATUS_DELETED:
- programs_local_to_be_deleted.append(p)
- else:
- programs_local_stock.append(p)
- if p.get("id") is not None:
- programs_local_map[p.get("id")] = p
-
- try:
+
# Get cloud programs
api_response = api_instance.get_robot_programs()
cloud_programs = api_response.body
@@ -385,6 +411,7 @@ def sync_programs(self, api_instance, sync_mode):
logging.info("programs.delete.stock.locally: " + pl.get("name"))
# delete locally permanently
ProgramEngine.get_instance().delete(pl.get("name"), logical=False)
-
+ self._sync_status["programs"] = "synced"
except cloud_api_robot_client.ApiException as e:
- logging.warn("Exception when calling programs RobotSyncApi: %s\n" % e)
\ No newline at end of file
+ logging.warn("Exception when calling programs RobotSyncApi: %s\n" % e)
+ self._sync_status["programs"] = "failed"
\ No newline at end of file
diff --git a/coderbot/v1.yml b/coderbot/v1.yml
index 787053d1..01af71e8 100644
--- a/coderbot/v1.yml
+++ b/coderbot/v1.yml
@@ -605,6 +605,27 @@ paths:
responses:
200:
description: "CNN Model deleted"
+ /cloud/sync:
+ post:
+ operationId: "api.cloudSyncRequest"
+ summary: "request a Sync activity"
+ tags:
+ - Cloud Sync
+ responses:
+ 200:
+ description: "Cloud Sync request"
+ get:
+ operationId: "api.cloudSyncStatus"
+ summary: "request a Sync activity"
+ tags:
+ - Cloud Sync
+ responses:
+ 200:
+ description: "Cloud Sync request"
+ content:
+ application/json:
+ schema:
+ $ref: '#/components/schemas/CloudSyncStatus'
components:
schemas:
@@ -723,3 +744,13 @@ components:
- default
- kind
+ CloudSyncStatus:
+ type: object
+ properties:
+ settings:
+ type: string
+ activities:
+ type: string
+ programs:
+ type: string
+
From a430f2ad334e1dcafe7c18bcb1aad30afc71c7fa Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Sun, 11 Jun 2023 23:14:20 +0100
Subject: [PATCH 24/60] wip
---
coderbot/api.py | 20 +++++++++-
coderbot/cloud/__init__.py | 60 ++++++++++++++++++++++-------
coderbot/v1.yml | 79 +++++++++++++++++++++++++++++++++++++-
3 files changed, 144 insertions(+), 15 deletions(-)
diff --git a/coderbot/api.py b/coderbot/api.py
index c413f8b6..e1a3470b 100644
--- a/coderbot/api.py
+++ b/coderbot/api.py
@@ -412,4 +412,22 @@ def cloudSyncRequest():
return 200
def cloudSyncStatus():
- return CloudManager.get_instance().sync_status()
\ No newline at end of file
+ return CloudManager.get_instance().sync_status()
+
+def cloudRegistrationRequest():
+ CloudManager.get_instance().register()
+ return 200
+
+def cloudRegistrationDelete():
+ CloudManager.get_instance().unregister()
+ return 200
+
+def cloudRegistrationStatus():
+ return {
+ "registered": CloudManager.get_instance().registration_status(),
+ "name": config.get('coderbot_name', ""),
+ "description": config.get('coderbot_description', ""),
+ "org_id": config.get('org_id', ""),
+ "org_name": config.get('org_name', ""),
+ "org_description": config.get('org_description', "")
+ }
diff --git a/coderbot/cloud/__init__.py b/coderbot/cloud/__init__.py
index e5b353ce..3e5e5c96 100644
--- a/coderbot/cloud/__init__.py
+++ b/coderbot/cloud/__init__.py
@@ -88,6 +88,36 @@ def __init__(self):
self.write_auth({})
self.start()
+ def register(self, registration_request):
+ logging.info("register.check.token")
+ token = self.get_auth().get("token")
+ if token:
+ logging.warn("register.check.token_already_there")
+ return
+ reg_otp = registration_request.get("otp")
+ try:
+ self._sync_status["registration"] = "registering"
+ logging.info("register.get_token")
+ with cloud_api_robot_client.ApiClient(self.configuration) as api_client:
+ api_instance = robot_sync_api.RobotSyncApi(api_client)
+ body = RobotRegisterData(
+ otp=reg_otp,
+ )
+ api_response = api_instance.register_robot(body=body)
+ logging.info(api_response.body)
+ token = api_response.body.get("token")
+ self.write_auth({"token":token})
+ self._sync_status["registration"] = "registered"
+ except cloud_api_robot_client.ApiException as e:
+ logging.warn("Exception when calling register_robot RobotSyncApi: %s\n" % e)
+ raise
+
+ def unregister(self):
+ self.write_auth({ "token": None })
+
+ def registration_status(self):
+ return self._auth.get("token") is not None
+
def run(self):
while(True):
sync_period = int(Config.read().get("sync_period", "60"))
@@ -109,20 +139,21 @@ def sync(self):
logging.info("run.sync.begin")
sync_modes = settings.get("sync_modes", {"settings": "n", "activities": "n", "programs": "n"})
- try:
- token = self.get_token_or_register(settings)
- self.configuration.access_token = token
+ token = self.get_auth().get("token")
+ if token is not None:
+ try:
+ self.configuration.access_token = token
- # Enter a context with an instance of the API client
- with cloud_api_robot_client.ApiClient(self.configuration) as api_client:
- # Create an instance of the API class
- api_instance = robot_sync_api.RobotSyncApi(api_client)
-
- self.sync_settings(api_instance, sync_modes["settings"])
- self.sync_activities(api_instance, sync_modes["activities"])
- self.sync_programs(api_instance, sync_modes["programs"])
- except Exception as e:
- logging.warn("run.sync.api_not_available: " + str(e))
+ # Enter a context with an instance of the API client
+ with cloud_api_robot_client.ApiClient(self.configuration) as api_client:
+ # Create an instance of the API class
+ api_instance = robot_sync_api.RobotSyncApi(api_client)
+
+ self.sync_settings(api_instance, sync_modes["settings"])
+ self.sync_activities(api_instance, sync_modes["activities"])
+ self.sync_programs(api_instance, sync_modes["programs"])
+ except Exception as e:
+ logging.warn("run.sync.api_not_available: " + str(e))
logging.info("run.sync.end")
self._syncing = False
@@ -133,6 +164,7 @@ def get_token_or_register(self, settings):
reg_otp = settings.get("reg_otp")
try:
if token is None and reg_otp is not None:
+ self._sync_status["registration"] = "registering"
logging.info("run.get_token_or_register.get_token")
with cloud_api_robot_client.ApiClient(self.configuration) as api_client:
api_instance = robot_sync_api.RobotSyncApi(api_client)
@@ -143,6 +175,7 @@ def get_token_or_register(self, settings):
logging.info(api_response.body)
token = api_response.body.get("token")
self.write_auth({"token":token})
+ self._sync_status["registration"] = "registered"
return token
except cloud_api_robot_client.ApiException as e:
logging.warn("Exception when calling register_robot RobotSyncApi: %s\n" % e)
@@ -181,6 +214,7 @@ def sync_settings(self, api_instance, sync_mode):
self._sync_status["settings"] = "synced"
except cloud_api_robot_client.ApiException as e:
logging.warn("Exception when calling settings RobotSyncApi: %s\n" % e)
+ self._sync_status["registration"] = "failed"
def sync_activities(self, api_instance, sync_mode):
try:
diff --git a/coderbot/v1.yml b/coderbot/v1.yml
index 01af71e8..8539dbb5 100644
--- a/coderbot/v1.yml
+++ b/coderbot/v1.yml
@@ -605,6 +605,49 @@ paths:
responses:
200:
description: "CNN Model deleted"
+
+ /cloud/registration:
+ post:
+ operationId: "api.cloudRegistrationRequest"
+ summary: "request a Registration activity"
+ tags:
+ - Cloud Sync
+ requestBody:
+ description: Registration Request parameters
+ required: true
+ content:
+ application/json:
+ schema:
+ $ref: '#/components/schemas/CloudRegistrationRequest'
+ responses:
+ 200:
+ description: "Cloud Sync request"
+ get:
+ operationId: "api.cloudRegistrationStatus"
+ summary: "get status of a Registration activity"
+ tags:
+ - Cloud Sync
+ responses:
+ 200:
+ description: "Cloud Sync request"
+ content:
+ application/json:
+ schema:
+ $ref: '#/components/schemas/CloudRegistrationStatus'
+
+ delete:
+ operationId: "api.cloudRegistrationDelete"
+ summary: "get status of a Registration activity"
+ tags:
+ - Cloud Sync
+ responses:
+ 200:
+ description: "Cloud Sync request"
+ content:
+ application/json:
+ schema:
+ $ref: '#/components/schemas/CloudRegistrationStatus'
+
/cloud/sync:
post:
operationId: "api.cloudSyncRequest"
@@ -743,7 +786,41 @@ components:
- description
- default
- kind
-
+
+ CloudRegistrationRequest:
+ type: object
+ properties:
+ name:
+ type: string
+ minLength: 4
+ maxLength: 64
+ description:
+ type: string
+ minLength: 4
+ maxLength: 256
+ otp:
+ type: string
+ minLength: 8
+ maxLength: 8
+
+ CloudRegistrationStatus:
+ type: object
+ properties:
+ name:
+ type: string
+ minLength: 1
+ maxLength: 64
+ description:
+ type: string
+ minLength: 0
+ maxLength: 256
+ org_id:
+ type: string
+ org_name:
+ type: string
+ org_description:
+ type: string
+
CloudSyncStatus:
type: object
properties:
From 639d4b930e8adbc276e773256d8cbc45f84f14d1 Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Wed, 16 Aug 2023 16:58:12 +0100
Subject: [PATCH 25/60] wip
---
coderbot/api.py | 52 +++++++++++++++++---------------
coderbot/audio.py | 6 ++--
coderbot/camera.py | 30 +++++++++----------
coderbot/cloud/__init__.py | 59 +++++++++++++++++++++----------------
coderbot/cnn/cnn_manager.py | 6 ++--
coderbot/coderbot.py | 6 ++--
coderbot/main.py | 16 +++++-----
coderbot/motion.py | 21 +++++++------
coderbot/music.py | 19 ++++++------
coderbot/musicPackages.py | 8 ++---
coderbot/program.py | 6 ++--
11 files changed, 121 insertions(+), 108 deletions(-)
diff --git a/coderbot/api.py b/coderbot/api.py
index e1a3470b..2dc48efa 100644
--- a/coderbot/api.py
+++ b/coderbot/api.py
@@ -22,6 +22,7 @@
from runtime_test import run_test
from musicPackages import MusicPackageManager
from program import Program, ProgramEngine
+from motion import Motion
from cloud import CloudManager
from balena import Balena
@@ -29,18 +30,20 @@
BUTTON_PIN = 16
-config = Config.read()
-bot = CoderBot.get_instance(motor_trim_factor=float(config.get('move_motor_trim', 1.0)),
- motor_max_power=int(config.get('motor_max_power', 100)),
- motor_min_power=int(config.get('motor_min_power', 0)),
- hw_version=config.get('hardware_version'),
- pid_params=(float(config.get('pid_kp', 1.0)),
- float(config.get('pid_kd', 0.1)),
- float(config.get('pid_ki', 0.01)),
- float(config.get('pid_max_speed', 200)),
- float(config.get('pid_sample_time', 0.01))))
-audio_device = Audio.get_instance()
-cam = Camera.get_instance()
+settings = Config.read().get("settings")
+bot = CoderBot.get_instance(settings=settings, motor_trim_factor=float(settings.get('move_motor_trim', 1.0)),
+ motor_max_power=int(settings.get('motor_max_power', 100)),
+ motor_min_power=int(settings.get('motor_min_power', 0)),
+ hw_version=settings.get('hardware_version'),
+ pid_params=(float(settings.get('pid_kp', 1.0)),
+ float(settings.get('pid_kd', 0.1)),
+ float(settings.get('pid_ki', 0.01)),
+ float(settings.get('pid_max_speed', 200)),
+ float(settings.get('pid_sample_time', 0.01))))
+audio_device = Audio.get_instance(settings)
+cam = Camera.get_instance(settings)
+Motion.get_instance(settings)
+CNNManager.get_instance(settings)
def get_serial():
"""
@@ -140,7 +143,7 @@ def turn(body):
def takePhoto():
try:
cam.photo_take()
- audio_device.say(config.get("sound_shutter"))
+ audio_device.say(settings.get("sound_shutter"))
return 200
except Exception as e:
logging.warning("Error: %s", e)
@@ -148,7 +151,7 @@ def takePhoto():
def recVideo():
try:
cam.video_rec()
- audio_device.say(config.get("sound_shutter"))
+ audio_device.say(settings.get("sound_shutter"))
return 200
except Exception as e:
logging.warning("Error: %s", e)
@@ -156,7 +159,7 @@ def recVideo():
def stopVideo():
try:
cam.video_stop()
- audio_device.say(config.get("sound_shutter"))
+ audio_device.say(settings.get("sound_shutter"))
return 200
except Exception as e:
logging.warning("Error: %s", e)
@@ -173,7 +176,7 @@ def reset():
return 200
def halt():
- audio_device.say(what=config.get("sound_stop"))
+ audio_device.say(what=settings.get("sound_stop"))
Balena.get_instance().shutdown()
return 200
@@ -181,7 +184,7 @@ def restart():
Balena.get_instance().restart()
def reboot():
- audio_device.say(what=config.get("sound_stop"))
+ audio_device.say(what=settings.get("sound_stop"))
Balena.get_instance().reboot()
return 200
@@ -414,8 +417,8 @@ def cloudSyncRequest():
def cloudSyncStatus():
return CloudManager.get_instance().sync_status()
-def cloudRegistrationRequest():
- CloudManager.get_instance().register()
+def cloudRegistrationRequest(body):
+ CloudManager.get_instance().register(body)
return 200
def cloudRegistrationDelete():
@@ -423,11 +426,12 @@ def cloudRegistrationDelete():
return 200
def cloudRegistrationStatus():
+ registration = settings.get('cloud_registration', {})
return {
"registered": CloudManager.get_instance().registration_status(),
- "name": config.get('coderbot_name', ""),
- "description": config.get('coderbot_description', ""),
- "org_id": config.get('org_id', ""),
- "org_name": config.get('org_name', ""),
- "org_description": config.get('org_description', "")
+ "name": registration.get('name', {}),
+ "description": registration.get('description', ""),
+ "org_id": registration.get('org_id', ""),
+ "org_name": registration.get('org_name', ""),
+ "org_description": registration.get('org_description', "")
}
diff --git a/coderbot/audio.py b/coderbot/audio.py
index ed1a469e..f67f99ff 100644
--- a/coderbot/audio.py
+++ b/coderbot/audio.py
@@ -46,12 +46,12 @@ class Audio:
_instance = None
@classmethod
- def get_instance(cls):
+ def get_instance(cls, settings=None):
if cls._instance is None:
- cls._instance = Audio()
+ cls._instance = Audio(settings)
return cls._instance
- def __init__(self):
+ def __init__(self, settings):
self.pa = pyaudio.PyAudio()
try:
self.stream_in = self.MicrophoneStream(FORMAT, RATE, CHUNK)
diff --git a/coderbot/camera.py b/coderbot/camera.py
index 8866b9fd..5247206e 100644
--- a/coderbot/camera.py
+++ b/coderbot/camera.py
@@ -52,30 +52,30 @@ class Camera(object):
_instance = None
@classmethod
- def get_instance(cls):
+ def get_instance(cls, settings=None):
if cls._instance is None:
- cls._instance = Camera()
+ cls._instance = Camera(settings)
#cls._instance.start()
return cls._instance
- def __init__(self):
+ def __init__(self, settings):
logging.info("starting camera")
cam_props = {"width":640, "height":512,
- "cv_image_factor": config.Config.get().get("cv_image_factor"),
- "exposure_mode": config.Config.get().get("camera_exposure_mode"),
- "framerate": config.Config.get().get("camera_framerate"),
- "bitrate": config.Config.get().get("camera_jpeg_bitrate"),
- "jpeg_quality": int(config.Config.get().get("camera_jpeg_quality"))}
+ "cv_image_factor": settings.get("cv_image_factor"),
+ "exposure_mode": settings.get("camera_exposure_mode"),
+ "framerate": settings.get("camera_framerate"),
+ "bitrate": settings.get("camera_jpeg_bitrate"),
+ "jpeg_quality": int(settings.get("camera_jpeg_quality"))}
self._camera = camera.Camera(props=cam_props)
self.recording = False
self.video_start_time = time.time() + 8640000
self._image_time = 0
- self._cv_image_factor = int(config.Config.get().get("cv_image_factor", 4))
- self._image_refresh_timeout = float(config.Config.get().get("camera_refresh_timeout", 0.1))
- self._color_object_size_min = int(config.Config.get().get("camera_color_object_size_min", 80)) / (self._cv_image_factor * self._cv_image_factor)
- self._color_object_size_max = int(config.Config.get().get("camera_color_object_size_max", 32000)) / (self._cv_image_factor * self._cv_image_factor)
- self._path_object_size_min = int(config.Config.get().get("camera_path_object_size_min", 80)) / (self._cv_image_factor * self._cv_image_factor)
- self._path_object_size_max = int(config.Config.get().get("camera_path_object_size_max", 32000)) / (self._cv_image_factor * self._cv_image_factor)
+ self._cv_image_factor = int(settings.get("cv_image_factor", 4))
+ self._image_refresh_timeout = float(settings.get("camera_refresh_timeout", 0.1))
+ self._color_object_size_min = int(settings.get("camera_color_object_size_min", 80)) / (self._cv_image_factor * self._cv_image_factor)
+ self._color_object_size_max = int(settings.get("camera_color_object_size_max", 32000)) / (self._cv_image_factor * self._cv_image_factor)
+ self._path_object_size_min = int(settings.get("camera_path_object_size_min", 80)) / (self._cv_image_factor * self._cv_image_factor)
+ self._path_object_size_max = int(settings.get("camera_path_object_size_max", 32000)) / (self._cv_image_factor * self._cv_image_factor)
self.load_photo_metadata()
if not self._photos:
self._photos = []
@@ -86,7 +86,7 @@ def __init__(self):
self.save_photo_metadata()
self._cnn_classifiers = {}
- cnn_model = config.Config.get().get("cnn_default_model", "")
+ cnn_model = settings.get("cnn_default_model", "")
if cnn_model != "":
try:
self._cnn_classifiers[cnn_model] = CNNManager.get_instance().load_model(cnn_model)
diff --git a/coderbot/cloud/__init__.py b/coderbot/cloud/__init__.py
index 3e5e5c96..40a600a3 100644
--- a/coderbot/cloud/__init__.py
+++ b/coderbot/cloud/__init__.py
@@ -10,6 +10,7 @@
# compare entity, if different, take most recent and push/pull changes
#
+import os
import threading
from datetime import datetime, timezone
import logging
@@ -80,7 +81,7 @@ def __init__(self):
# Defining the host is optional and defaults to https://api.coderbot.org/api/v1
# See configuration.py for a list of all supported configuration parameters.
self.configuration = cloud_api_robot_client.Configuration(
- host = "http://192.168.1.7:8090/api/v1",
+ host = os.getenv("CODERBOT_CLOUD_API_ENDPOINT") + "/api/v1",
)
try:
self.read_auth()
@@ -136,8 +137,9 @@ def sync(self):
self._syncing = True
settings = Config.read()
+ cloud_settings = settings.get("cloud")
logging.info("run.sync.begin")
- sync_modes = settings.get("sync_modes", {"settings": "n", "activities": "n", "programs": "n"})
+ sync_modes = cloud_settings.get("sync_modes", {"settings": "n", "activities": "n", "programs": "n"})
token = self.get_auth().get("token")
if token is not None:
@@ -158,27 +160,27 @@ def sync(self):
logging.info("run.sync.end")
self._syncing = False
- def get_token_or_register(self, settings):
- logging.info("run.check.token")
- token = self.get_auth().get("token")
- reg_otp = settings.get("reg_otp")
- try:
- if token is None and reg_otp is not None:
- self._sync_status["registration"] = "registering"
- logging.info("run.get_token_or_register.get_token")
- with cloud_api_robot_client.ApiClient(self.configuration) as api_client:
- api_instance = robot_sync_api.RobotSyncApi(api_client)
- body = RobotRegisterData(
- otp=reg_otp,
- )
- api_response = api_instance.register_robot(body=body)
- logging.info(api_response.body)
- token = api_response.body.get("token")
- self.write_auth({"token":token})
- self._sync_status["registration"] = "registered"
- return token
- except cloud_api_robot_client.ApiException as e:
- logging.warn("Exception when calling register_robot RobotSyncApi: %s\n" % e)
+ # def get_token_or_register(self, cloud_settings):
+ # logging.info("run.check.token")
+ # token = self.get_auth().get("token")
+ # reg_otp = cloud_settings.get("reg_otp")
+ # try:
+ # if token is None and reg_otp is not None:
+ # self._sync_status["registration"] = "registering"
+ # logging.info("run.get_token_or_register.get_token")
+ # with cloud_api_robßot_client.ApiClient(self.configuration) as api_client:
+ # api_instance = robot_sync_api.RobotSyncApi(api_client)
+ # body = RobotRegisterData(
+ # otp=reg_otp,
+ # )
+ # api_response = api_instance.register_robot(body=body)
+ # logging.info(api_response.body)
+ # token = api_response.body.get("token")
+ # self.write_auth({"token":token})
+ # self._sync_status["registration"] = "registered"
+ # return token
+ # except cloud_api_robot_client.ApiException as e:
+ # logging.warn("Exception when calling register_robot RobotSyncApi: %s\n" % e)
# sync settings
def sync_settings(self, api_instance, sync_mode):
@@ -191,7 +193,12 @@ def sync_settings(self, api_instance, sync_mode):
cloud_setting_object = api_response.body
cloud_setting = json.loads(cloud_setting_object.get('data'))
- local_setting = Config.read()
+ # sync only the "settings" and "cloud" sections, do not sync "network"
+ config = Config.read()
+ local_setting = {
+ "settings": config.get("settings"),
+ "cloud": config.get("cloud")
+ }
local_most_recent = datetime.fromisoformat(cloud_setting_object.get("modified")).timestamp() < Config.modified()
cloud_kind_user = cloud_setting_object.get("kind") == ENTITY_KIND_USER
# logging.info("settings.syncing: " + cloud_setting_object.get("id", "") + " name: " + cloud_setting_object.get("name", ""))
@@ -209,7 +216,9 @@ def sync_settings(self, api_instance, sync_mode):
api_response = api_instance.set_robot_setting(body)
logging.info("settings.upstream")
elif cloud_setting != local_setting: # setting, down
- Config.write(cloud_setting)
+ config["settings"] = cloud_setting["settings"]
+ config["cloud"] = cloud_setting["cloud"]
+ Config.write(config)
logging.info("settings.downstream")
self._sync_status["settings"] = "synced"
except cloud_api_robot_client.ApiException as e:
diff --git a/coderbot/cnn/cnn_manager.py b/coderbot/cnn/cnn_manager.py
index 5ed012d2..6bd16db6 100644
--- a/coderbot/cnn/cnn_manager.py
+++ b/coderbot/cnn/cnn_manager.py
@@ -44,13 +44,13 @@ class CNNManager(object):
instance = None
@classmethod
- def get_instance(cls):
+ def get_instance(cls, settings=None):
if cls.instance is None:
- cls.instance = CNNManager()
+ cls.instance = CNNManager(settings)
return cls.instance
- def __init__(self):
+ def __init__(self, settings):
try:
f = open(MODEL_METADATA, "r")
self._models = json.load(f)
diff --git a/coderbot/coderbot.py b/coderbot/coderbot.py
index 37877506..44d4d31b 100644
--- a/coderbot/coderbot.py
+++ b/coderbot/coderbot.py
@@ -101,7 +101,7 @@ class CoderBot(object):
# pylint: disable=too-many-instance-attributes
- def __init__(self, motor_trim_factor=1.0, motor_min_power=0, motor_max_power=100, hw_version="5", pid_params=(0.8, 0.1, 0.01, 200, 0.01)):
+ def __init__(self, settings, motor_trim_factor=1.0, motor_min_power=0, motor_max_power=100, hw_version="5", pid_params=(0.8, 0.1, 0.01, 200, 0.01)):
try:
self._mpu = mpu.AccelGyroMag()
logging.info("MPU available")
@@ -157,9 +157,9 @@ def exit(self):
s.cancel()
@classmethod
- def get_instance(cls, motor_trim_factor=1.0, motor_max_power=100, motor_min_power=0, hw_version="5", pid_params=(0.8, 0.1, 0.01, 200, 0.01)):
+ def get_instance(cls, settings=None, motor_trim_factor=1.0, motor_max_power=100, motor_min_power=0, hw_version="5", pid_params=(0.8, 0.1, 0.01, 200, 0.01)):
if not cls.the_bot:
- cls.the_bot = CoderBot(motor_trim_factor=motor_trim_factor, motor_max_power= motor_max_power, motor_min_power=motor_min_power, hw_version=hw_version, pid_params=pid_params)
+ cls.the_bot = CoderBot(settings=settings, motor_trim_factor=motor_trim_factor, motor_max_power= motor_max_power, motor_min_power=motor_min_power, hw_version=hw_version, pid_params=pid_params)
return cls.the_bot
def get_motor_power(self, speed):
diff --git a/coderbot/main.py b/coderbot/main.py
index 61bb1b24..f6b6f9b5 100644
--- a/coderbot/main.py
+++ b/coderbot/main.py
@@ -48,7 +48,7 @@
connexionApp.add_api('v1.yml')
def button_pushed():
- if app.bot_config.get('button_func') == "startstop":
+ if app.settings.get('button_func') == "startstop":
prog = app.prog_engine.get_current_prog()
if prog and prog.is_running():
prog.end()
@@ -67,14 +67,14 @@ def run_server():
cam = None
try:
try:
- app.bot_config = Config.read()
+ app.settings = Config.read().get("settings")
bot = CoderBot.get_instance()
try:
audio_device = Audio.get_instance()
- audio_device.set_volume(int(app.bot_config.get('audio_volume_level')), 100)
- audio_device.say(app.bot_config.get("sound_start"))
+ audio_device.set_volume(int(app.settings.get('audio_volume_level')), 100)
+ audio_device.say(app.settings.get("sound_start"))
except Exception:
logging.warning("Audio not present")
@@ -84,17 +84,17 @@ def run_server():
except picamera.exc.PiCameraError:
logging.warning("Camera not present")
- CNNManager.get_instance()
+ CNNManager.get_instance(app.settings)
EventManager.get_instance("coderbot")
- if app.bot_config.get('load_at_start') and app.bot_config.get('load_at_start'):
- prog = app.prog_engine.load(app.bot_config.get('load_at_start'))
+ if app.settings.get('load_at_start') and app.settings.get('load_at_start'):
+ prog = app.prog_engine.load(app.settings.get('load_at_start'))
prog.execute()
CloudManager.get_instance()
except ValueError as e:
- app.bot_config = {}
+ app.settings = {}
logging.error(e)
bot.set_callback(bot.GPIOS.PIN_PUSHBUTTON, button_pushed, 100)
diff --git a/coderbot/motion.py b/coderbot/motion.py
index 95d66563..8fa5c14d 100644
--- a/coderbot/motion.py
+++ b/coderbot/motion.py
@@ -43,9 +43,9 @@
class Motion:
# pylint: disable=too-many-instance-attributes
- def __init__(self):
- self.bot = CoderBot.get_instance()
- self.cam = Camera.get_instance()
+ def __init__(self, settings):
+ self.bot = CoderBot.get_instance(settings)
+ self.cam = Camera.get_instance(settings)
self.track_len = 2
self.detect_interval = 5
self.tracks = []
@@ -59,20 +59,19 @@ def __init__(self):
self.target_dist = 0.0
self.delta_angle = 0.0
self.target_angle = 0.0
- cfg = Config.get()
- self.power_angles = [[15, (int(cfg.get("move_power_angle_1")), -1)],
- [4, (int(cfg.get("move_power_angle_2")), 0.05)],
- [1, (int(cfg.get("move_power_angle_3")), 0.02)],
+ self.power_angles = [[15, (int(settings.get("move_power_angle_1")), -1)],
+ [4, (int(settings.get("move_power_angle_2")), 0.05)],
+ [1, (int(settings.get("move_power_angle_3")), 0.02)],
[0, (0, 0)]]
- self.image_width = 640 / int(cfg.get("cv_image_factor"))
- self.image_heigth = 480 / int(cfg.get("cv_image_factor"))
+ self.image_width = 640 / int(settings.get("cv_image_factor"))
+ self.image_heigth = 480 / int(settings.get("cv_image_factor"))
self.transform = image.Image.get_transform(self.image_width)
_motion = None
@classmethod
- def get_instance(cls):
+ def get_instance(cls, settings=None):
if not cls._motion:
- cls._motion = Motion()
+ cls._motion = Motion(settings)
return cls._motion
def move(self, dist):
diff --git a/coderbot/music.py b/coderbot/music.py
index 0544b468..be1ac222 100644
--- a/coderbot/music.py
+++ b/coderbot/music.py
@@ -29,6 +29,7 @@
import os
import sox
import time
+import logging
class Music:
_instance = None
@@ -42,17 +43,17 @@ class Music:
@classmethod
- def get_instance(cls,managerPackage):
+ def get_instance(cls, managerPackage, settings=None):
if cls._instance is None:
- cls._instance = Music(managerPackage)
+ cls._instance = Music(managerPackage, settings)
return cls._instance
- def __init__(self,managerPackage):
+ def __init__(self, managerPackage, settings):
#os.putenv('AUDIODRIVER', 'alsa')
#os.putenv('AUDIODEV', 'hw:1,0')
self.managerPackage = managerPackage
- print("We have create a class: MUSICAL")
+ logging.info("We have created a class: MUSICAL")
def test(self):
tfm = sox.Transformer()
@@ -71,7 +72,7 @@ def play_pause(self, duration):
# @para alteration: if it is a diesis or a bemolle
# @param time: duration of the note in seconds
def play_note(self, note, instrument='piano', alteration='none', duration=1.0):
- print(note)
+ logging.info("play_note: %s", note)
tfm = sox.Transformer()
duration = float(duration)
@@ -85,7 +86,7 @@ def play_note(self, note, instrument='piano', alteration='none', duration=1.0):
if note in self.noteDict :
shift = self.noteDict[note]+ alt
else:
- print('note not exist')
+ logging.error('note does not exist')
return
tfm.pitch(shift, quick=False)
@@ -93,7 +94,7 @@ def play_note(self, note, instrument='piano', alteration='none', duration=1.0):
if self.managerPackage.isPackageAvailable(instrument):
tfm.preview('./sounds/notes/' + instrument + '/audio.wav')
else:
- print("no instrument:"+str(instrument)+" present in this coderbot!")
+ logging.error("no instrument:"+str(instrument)+" present in this coderbot!")
def play_animal(self, instrument, note='G2', alteration='none', duration=1.0):
tfm = sox.Transformer()
@@ -138,13 +139,13 @@ def play_animal(self, instrument, note='G2', alteration='none', duration=1.0):
if note in self.noteDict :
shift = self.noteDict[note]+ alt
else:
- print('note not exist')
+ logging.error('note does not exist')
return
if self.managerPackage.isPackageAvailable(instrument):
tfm.preview('./sounds/notes/' + instrument + '/audio.wav')
else:
- print("no animal verse:"+str(instrument)+" present in this coderbot!")
+ logging.error("no animal verse:"+str(instrument)+" present in this coderbot!")
return
tfm.pitch(shift, quick=False)
tfm.trim(0.0, end_time=0.5*duration)
diff --git a/coderbot/musicPackages.py b/coderbot/musicPackages.py
index e671b7e7..a96c9ba3 100644
--- a/coderbot/musicPackages.py
+++ b/coderbot/musicPackages.py
@@ -68,7 +68,7 @@ def addInterface(self, musicPackageInterface):
class MusicPackageInterface:
- def __init__(self,interfaceName,available,icon):
+ def __init__(self, interfaceName, available,icon):
self.interfaceName = interfaceName
self.available = available
self.icon = icon
@@ -86,12 +86,12 @@ class MusicPackageManager:
_instance = None
@classmethod
- def get_instance(cls):
+ def get_instance(cls, settings=None):
if cls._instance is None:
- cls._instance = MusicPackageManager()
+ cls._instance = MusicPackageManager(settings)
return cls._instance
- def __init__(self):
+ def __init__(self, settings):
self.packages = dict()
with open('./sounds/notes/music_package.json') as json_file:
data = json.load(json_file)
diff --git a/coderbot/program.py b/coderbot/program.py
index a892950e..388a6da9 100644
--- a/coderbot/program.py
+++ b/coderbot/program.py
@@ -80,7 +80,7 @@ class ProgramEngine:
_instance = None
- def __init__(self):
+ def __init__(self, settings):
self._program = None
self._log = ""
self._programs = TinyDB(PROGRAMS_DB)
@@ -102,9 +102,9 @@ def __init__(self):
self.save(program)
@classmethod
- def get_instance(cls):
+ def get_instance(cls, settings=None):
if not cls._instance:
- cls._instance = ProgramEngine()
+ cls._instance = ProgramEngine(settings)
return cls._instance
def prog_list(self, active_only = True):
From f23d78f3e42efa8b6c5898bf53500b0dfb35580e Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Wed, 16 Aug 2023 23:38:36 +0100
Subject: [PATCH 26/60] wip
---
coderbot/api.py | 7 +++++--
1 file changed, 5 insertions(+), 2 deletions(-)
diff --git a/coderbot/api.py b/coderbot/api.py
index 2dc48efa..17e4e9cb 100644
--- a/coderbot/api.py
+++ b/coderbot/api.py
@@ -31,6 +31,9 @@
BUTTON_PIN = 16
settings = Config.read().get("settings")
+network_settings = Config.read().get("network")
+cloud_settings = Config.read().get("cloud")
+
bot = CoderBot.get_instance(settings=settings, motor_trim_factor=float(settings.get('move_motor_trim', 1.0)),
motor_max_power=int(settings.get('motor_max_power', 100)),
motor_min_power=int(settings.get('motor_min_power', 0)),
@@ -426,10 +429,10 @@ def cloudRegistrationDelete():
return 200
def cloudRegistrationStatus():
- registration = settings.get('cloud_registration', {})
+ registration = cloud_settings.get('registration', {})
return {
"registered": CloudManager.get_instance().registration_status(),
- "name": registration.get('name', {}),
+ "name": registration.get('name', ""),
"description": registration.get('description', ""),
"org_id": registration.get('org_id', ""),
"org_name": registration.get('org_name', ""),
From 1ba04562693a3e9a6ad3e05eaedf117f9e45ea37 Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Sat, 19 Aug 2023 14:12:24 +0100
Subject: [PATCH 27/60] update default config.json
---
defaults/config.json | 118 ++++++++++++++++++++++---------------------
1 file changed, 60 insertions(+), 58 deletions(-)
diff --git a/defaults/config.json b/defaults/config.json
index ab8459d0..518c66fc 100644
--- a/defaults/config.json
+++ b/defaults/config.json
@@ -1,60 +1,62 @@
{
- "move_power_angle_3":"60",
- "cnn_default_model":"generic_fast_low",
- "prog_maxblocks":"-1",
- "camera_jpeg_quality":"5",
- "show_page_control":"true",
- "camera_framerate":"30",
- "prog_scrollbars":"true",
- "move_fw_speed":"100",
- "motor_min_power":"0",
- "motor_max_power":"100",
- "prog_level":"adv",
- "move_motor_trim":"1",
- "cv_image_factor":"2",
- "move_power_angle_1":"45",
- "camera_path_object_size_min":"4000",
- "button_func":"none",
- "camera_color_object_size_min":"4000",
- "camera_jpeg_bitrate":"1000000",
- "move_fw_elapse":"1",
- "show_control_move_commands":"true",
- "camera_color_object_size_max":"160000",
- "show_page_prefs":"true",
- "camera_exposure_mode":"auto",
- "ctrl_tr_elapse":"-1",
- "show_page_program":"true",
- "move_tr_elapse":"0.5",
- "camera_path_object_size_max":"160000",
- "sound_shutter":"$shutter",
- "ctrl_fw_elapse":"-1",
- "sound_stop":"$shutdown",
- "ctrl_tr_speed":"80",
- "ctrl_fw_speed":"100",
- "move_tr_speed":"85",
- "move_power_angle_2":"60",
- "ctrl_hud_image":"",
- "load_at_start":"",
- "sound_start":"$startup",
- "hardware_version":"5",
- "audio_volume_level":"100",
- "wifi_mode":"ap",
- "wifi_ssid":"coderbot",
- "wifi_psk":"coderbot",
- "packages_installed":"",
- "admin_password":"",
- "pid_kp":"8.0",
- "pid_kd":"0.0",
- "pid_ki":"0.0",
- "pid_max_speed":"200",
- "pid_sample_time":"0.05",
- "movement_use_mpu": "false",
- "movement_use_motion": "false",
- "movement_use_encoder": "true",
- "sync_modes": {
- "activities":"b",
- "programs":"b",
- "settings":"b"
+ "settings":{
+ "ctrl_hud_image":"",
+ "cv_image_factor":"2",
+ "camera_color_object_size_max":"160000",
+ "camera_color_object_size_min":"4000",
+ "camera_exposure_mode":"auto",
+ "camera_framerate":"30",
+ "camera_jpeg_bitrate":"1000000",
+ "camera_jpeg_quality":"5",
+ "camera_path_object_size_max":"160000",
+ "camera_path_object_size_min":"4000",
+ "cnn_default_model":"generic_fast_low",
+ "move_power_angle_1":"45",
+ "move_power_angle_2":"60",
+ "move_power_angle_3":"60",
+ "button_func":"none",
+ "move_motor_trim":"1",
+ "motor_min_power":"0",
+ "motor_max_power":"100",
+ "sound_start":"$startup",
+ "sound_stop":"$shutdown",
+ "sound_shutter":"$shutter",
+ "load_at_start":"",
+ "prog_level":"adv",
+ "move_fw_elapse":"1",
+ "move_fw_speed":"100",
+ "move_tr_elapse":"0.5",
+ "move_tr_speed":"85",
+ "pid_kp":"8.0",
+ "pid_kd":"0.0",
+ "pid_ki":"0.0",
+ "pid_max_speed":"200",
+ "pid_sample_time":"0.05",
+ "ctrl_fw_elapse":"-1",
+ "ctrl_fw_speed":"100",
+ "ctrl_tr_elapse":"-1",
+ "ctrl_tr_speed":"80",
+ "audio_volume_level":"100",
+ "admin_password":"",
+ "hardware_version":"5",
+ "prog_scrollbars":"true",
+ "movement_use_mpu":"false",
+ "movement_use_motion":"false",
+ "movement_use_encoder":"true",
+ "locale":"browser"
},
- "sync_period":"60"
-}
+ "network":{
+ "wifi_mode":"ap",
+ "wifi_ssid":"coderbot",
+ "wifi_psk":"coderbot"
+ },
+ "cloud":{
+ "sync_modes":{
+ "activities":"b",
+ "programs":"b",
+ "settings":"b"
+ },
+ "sync_period":"10",
+ "reg_otp":"AB1234CD"
+ }
+}
\ No newline at end of file
From bd2ee94fd9ef5ed70889ebef133adf4556855c79 Mon Sep 17 00:00:00 2001
From: Roberto <roberto.previtera@gmail.com>
Date: Sat, 19 Aug 2023 16:26:03 +0200
Subject: [PATCH 28/60] increase initial delay for testing
---
.github/workflows/build_backend.yml | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/.github/workflows/build_backend.yml b/.github/workflows/build_backend.yml
index 189d0835..ca2364e8 100644
--- a/.github/workflows/build_backend.yml
+++ b/.github/workflows/build_backend.yml
@@ -26,7 +26,7 @@ jobs:
- run: |
export PYTHONPATH=./stub:./coderbot:./test
python3 coderbot/main.py > coderbot.log &
- sleep 60
+ sleep 120
apt-get install -y python3-venv
mkdir -p schemathesis
python3 -m venv schemathesis
From f1817f8dfa8a7370e7a7e6c034d52a50f03ef0d5 Mon Sep 17 00:00:00 2001
From: Roberto <roberto.previtera@gmail.com>
Date: Sat, 19 Aug 2023 16:41:53 +0200
Subject: [PATCH 29/60] debug test api
---
.github/workflows/build_backend.yml | 14 ++++++++------
1 file changed, 8 insertions(+), 6 deletions(-)
diff --git a/.github/workflows/build_backend.yml b/.github/workflows/build_backend.yml
index ca2364e8..95b15017 100644
--- a/.github/workflows/build_backend.yml
+++ b/.github/workflows/build_backend.yml
@@ -26,18 +26,20 @@ jobs:
- run: |
export PYTHONPATH=./stub:./coderbot:./test
python3 coderbot/main.py > coderbot.log &
- sleep 120
+ sleep 60
+ cat coderbot.log
+ curl http://localhost:5000/api/v1/openapi.json
apt-get install -y python3-venv
mkdir -p schemathesis
python3 -m venv schemathesis
. schemathesis/bin/activate
pip install schemathesis
- st run --endpoint 'activities' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
+ #st run --endpoint 'activities' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
#st run --endpoint 'media' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
- st run --endpoint 'control/speak' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
- st run --endpoint 'control/stop' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
- st run --endpoint 'music' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
- st run --endpoint 'programs' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
+ #st run --endpoint 'control/speak' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
+ #st run --endpoint 'control/stop' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
+ #st run --endpoint 'music' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
+ #st run --endpoint 'programs' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
echo "openapi test complete"
release-backend:
From 16ffbadc87f05a79d88ad2a32e2a9010e7cfc101 Mon Sep 17 00:00:00 2001
From: Roberto <roberto.previtera@gmail.com>
Date: Sat, 19 Aug 2023 16:45:47 +0200
Subject: [PATCH 30/60] debug tests
---
.github/workflows/build_backend.yml | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/.github/workflows/build_backend.yml b/.github/workflows/build_backend.yml
index 95b15017..b69d2109 100644
--- a/.github/workflows/build_backend.yml
+++ b/.github/workflows/build_backend.yml
@@ -25,6 +25,7 @@ jobs:
echo "test complete"
- run: |
export PYTHONPATH=./stub:./coderbot:./test
+ export CODERBOT_CLOUD_API_ENDPOINT=http://localhost:5000
python3 coderbot/main.py > coderbot.log &
sleep 60
cat coderbot.log
@@ -34,7 +35,7 @@ jobs:
python3 -m venv schemathesis
. schemathesis/bin/activate
pip install schemathesis
- #st run --endpoint 'activities' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
+ st run --endpoint 'activities' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
#st run --endpoint 'media' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
#st run --endpoint 'control/speak' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
#st run --endpoint 'control/stop' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
From b49c58d3102170b9f0bf317ece22f15717a692f4 Mon Sep 17 00:00:00 2001
From: Roberto <roberto.previtera@gmail.com>
Date: Sat, 19 Aug 2023 16:50:04 +0200
Subject: [PATCH 31/60] debug tests
---
.github/workflows/build_backend.yml | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/.github/workflows/build_backend.yml b/.github/workflows/build_backend.yml
index b69d2109..41ea5341 100644
--- a/.github/workflows/build_backend.yml
+++ b/.github/workflows/build_backend.yml
@@ -37,10 +37,10 @@ jobs:
pip install schemathesis
st run --endpoint 'activities' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
#st run --endpoint 'media' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
- #st run --endpoint 'control/speak' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
- #st run --endpoint 'control/stop' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
- #st run --endpoint 'music' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
- #st run --endpoint 'programs' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
+ st run --endpoint 'control/speak' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
+ st run --endpoint 'control/stop' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
+ st run --endpoint 'music' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
+ st run --endpoint 'programs' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
echo "openapi test complete"
release-backend:
From 24ef531e7dd322b502f7cc0130d214c23dfc590c Mon Sep 17 00:00:00 2001
From: Roberto <roberto.previtera@gmail.com>
Date: Sat, 19 Aug 2023 16:51:42 +0200
Subject: [PATCH 32/60] Update camera_test.py - fix tests
---
test/camera_test.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/test/camera_test.py b/test/camera_test.py
index 523f2c4b..90fa07d4 100755
--- a/test/camera_test.py
+++ b/test/camera_test.py
@@ -10,7 +10,7 @@ class CameraTest(unittest.TestCase):
def setUp(self):
config.Config.read()
picamera.PiCamera = picamera_mock.PiCameraMock
- self.cam = camera.Camera.get_instance()
+ self.cam = camera.Camera.get_instance(config.get('settings'))
def tearDown(self):
self.cam.exit()
From 52f5dd1e73709f3bc1230a228cb90065c452ec53 Mon Sep 17 00:00:00 2001
From: Roberto <roberto.previtera@gmail.com>
Date: Sat, 19 Aug 2023 16:56:05 +0200
Subject: [PATCH 33/60] Update coderbot_test.py - fix
---
test/coderbot_test.py | 4 +++-
1 file changed, 3 insertions(+), 1 deletion(-)
diff --git a/test/coderbot_test.py b/test/coderbot_test.py
index dbbd6ee0..e655e34c 100755
--- a/test/coderbot_test.py
+++ b/test/coderbot_test.py
@@ -1,6 +1,7 @@
import unittest
import test.pigpio_mock
import coderbot
+import config
import logging
logger = logging.getLogger()
@@ -17,7 +18,8 @@ class CoderBotDCMotorTestCase(unittest.TestCase):
def setUp(self):
coderbot.pigpio.pi = test.pigpio_mock.PIGPIOMock
coderbot.CoderBot._instance = None
- self.bot = coderbot.CoderBot.get_instance()
+ settings = config.Config.read().get('settings')
+ self.bot = coderbot.CoderBot.get_instance(settings)
def test_motor_forward(self):
self.bot.forward(speed=100, elapse=0.1)
From f65bc87c7302c51d3dbf6cdd26a6faed07923307 Mon Sep 17 00:00:00 2001
From: Roberto <roberto.previtera@gmail.com>
Date: Sat, 19 Aug 2023 16:56:27 +0200
Subject: [PATCH 34/60] Update camera_test.py fix
---
test/camera_test.py | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/test/camera_test.py b/test/camera_test.py
index 90fa07d4..b074aff4 100755
--- a/test/camera_test.py
+++ b/test/camera_test.py
@@ -8,9 +8,9 @@
class CameraTest(unittest.TestCase):
def setUp(self):
- config.Config.read()
+ settings = config.Config.read().get('settings')
picamera.PiCamera = picamera_mock.PiCameraMock
- self.cam = camera.Camera.get_instance(config.get('settings'))
+ self.cam = camera.Camera.get_instance(settings)
def tearDown(self):
self.cam.exit()
From 7c13bb3e5a6af97c830bbef0d6209233f0aa850f Mon Sep 17 00:00:00 2001
From: Roberto <roberto.previtera@gmail.com>
Date: Sat, 19 Aug 2023 17:04:05 +0200
Subject: [PATCH 35/60] Update coderbot_test.py fix
---
test/coderbot_test.py | 6 ++++--
1 file changed, 4 insertions(+), 2 deletions(-)
diff --git a/test/coderbot_test.py b/test/coderbot_test.py
index e655e34c..04285b93 100755
--- a/test/coderbot_test.py
+++ b/test/coderbot_test.py
@@ -45,7 +45,8 @@ class CoderBotServoMotorTestCase(unittest.TestCase):
def setUp(self):
coderbot.pigpio.pi = test.pigpio_mock.PIGPIOMock
coderbot.CoderBot._instance = None
- self.bot = coderbot.CoderBot.get_instance(servo=True)
+ settings = config.Config.read().get('settings')
+ self.bot = coderbot.CoderBot.get_instance(settings, Servo=True)
def test_motor_forward(self):
self.bot.forward(speed=100, elapse=0.1)
@@ -72,7 +73,8 @@ class CoderBotSonarTestCase(unittest.TestCase):
def setUp(self):
coderbot.pigpio.pi = test.pigpio_mock.PIGPIOMock
coderbot.CoderBot._instance = None
- self.bot = coderbot.CoderBot.get_instance()
+ settings = config.Config.read().get('settings')
+ self.bot = coderbot.CoderBot.get_instance(settings)
def test_sonar(self):
for i in range(0, 3):
From 7070b18622e21bf3395c887ed9187b6f3b318cd9 Mon Sep 17 00:00:00 2001
From: Roberto <roberto.previtera@gmail.com>
Date: Sat, 19 Aug 2023 17:08:00 +0200
Subject: [PATCH 36/60] Update coderbot_test.py -fix
---
test/coderbot_test.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/test/coderbot_test.py b/test/coderbot_test.py
index 04285b93..69562831 100755
--- a/test/coderbot_test.py
+++ b/test/coderbot_test.py
@@ -46,7 +46,7 @@ def setUp(self):
coderbot.pigpio.pi = test.pigpio_mock.PIGPIOMock
coderbot.CoderBot._instance = None
settings = config.Config.read().get('settings')
- self.bot = coderbot.CoderBot.get_instance(settings, Servo=True)
+ self.bot = coderbot.CoderBot.get_instance(settings, servo=True)
def test_motor_forward(self):
self.bot.forward(speed=100, elapse=0.1)
From 14f6478c2e350cef0c494df406ca9bd4748ca4b6 Mon Sep 17 00:00:00 2001
From: Roberto <roberto.previtera@gmail.com>
Date: Sat, 19 Aug 2023 17:23:04 +0200
Subject: [PATCH 37/60] Update coderbot_test.py fix servo test
---
test/coderbot_test.py | 28 +++++++++++++---------------
1 file changed, 13 insertions(+), 15 deletions(-)
diff --git a/test/coderbot_test.py b/test/coderbot_test.py
index 69562831..d8a651f2 100755
--- a/test/coderbot_test.py
+++ b/test/coderbot_test.py
@@ -46,27 +46,25 @@ def setUp(self):
coderbot.pigpio.pi = test.pigpio_mock.PIGPIOMock
coderbot.CoderBot._instance = None
settings = config.Config.read().get('settings')
- self.bot = coderbot.CoderBot.get_instance(settings, servo=True)
+ self.bot = coderbot.CoderBot.get_instance(settings)
- def test_motor_forward(self):
- self.bot.forward(speed=100, elapse=0.1)
+ def servo_0_0(self):
+ self.bot.forward(servo=0, angle=0)
- def test_motor_backward(self):
- self.bot.backward(speed=100, elapse=0.1)
+ def servo_0_90(self):
+ self.bot.forward(servo=0, angle=90)
- def test_motor_left(self):
- self.bot.left(speed=100, elapse=0.1)
+ def servo_0_180(self):
+ self.bot.forward(servo=0, angle=180)
- def test_motor_right(self):
- self.bot.left(speed=100, elapse=0.1)
+ def servo_1_0(self):
+ self.bot.forward(servo=1, angle=0)
- def test_motor_move(self):
- self.bot.move(speed=100, elapse=0.1)
- self.bot.move(speed=-100, elapse=0.1)
+ def servo_1_90(self):
+ self.bot.forward(servo=1, angle=90)
- def test_motor_turn(self):
- self.bot.turn(speed=100, elapse=0.1)
- self.bot.turn(speed=-100, elapse=0.1)
+ def servo_1_180(self):
+ self.bot.forward(servo=1, angle=180)
class CoderBotSonarTestCase(unittest.TestCase):
From 164da91ce1f485a7038b4d9a4ac62355b427e747 Mon Sep 17 00:00:00 2001
From: Roberto <roberto.previtera@gmail.com>
Date: Sat, 19 Aug 2023 17:28:54 +0200
Subject: [PATCH 38/60] Update Dockerfile stub add CODERBOT_CLOUD_API_ENDPOINT
---
docker/stub/Dockerfile | 1 +
1 file changed, 1 insertion(+)
diff --git a/docker/stub/Dockerfile b/docker/stub/Dockerfile
index 43180a2a..2cd2fd2d 100644
--- a/docker/stub/Dockerfile
+++ b/docker/stub/Dockerfile
@@ -62,5 +62,6 @@ ADD docker/stub/start.sh /coderbot/.
ARG CODERBOT_VERSION
ENV CODERBOT_VERSION=${CODERBOT_VERSION}
+ENV CODERBOT_CLOUD_API_ENDPOINT=http://localhost:5000
ENTRYPOINT /coderbot/start.sh
From 45e0bcebc41751e1a0f185fd85518d1f461adfd4 Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Sun, 27 Aug 2023 00:48:36 +0100
Subject: [PATCH 39/60] fixes
---
coderbot/activity.py | 2 +-
coderbot/api.py | 2 +-
coderbot/program.py | 8 ++++++--
3 files changed, 8 insertions(+), 4 deletions(-)
diff --git a/coderbot/activity.py b/coderbot/activity.py
index b44bd777..0477447b 100644
--- a/coderbot/activity.py
+++ b/coderbot/activity.py
@@ -69,4 +69,4 @@ def delete(self, name, logical = True):
def list(self, active_only = True):
with self.lock:
- return self.activities.all()
+ return self.activities.search(self.query.status == ACTIVITY_STATUS_ACTIVE)
diff --git a/coderbot/api.py b/coderbot/api.py
index 17e4e9cb..0f377c64 100644
--- a/coderbot/api.py
+++ b/coderbot/api.py
@@ -301,7 +301,7 @@ def saveProgram(name, body):
logging.info("saving - name: %s, body: %s", name, str(existing_program))
if existing_program is not None and not overwrite:
return "askOverwrite"
- elif existing_program is not None and existing_program.is_default() == True:
+ elif existing_program is not None and existing_program.is_stock() == True:
return "defaultCannotOverwrite", 400
program = Program(name=body.get("name"), code=body.get("code"), dom_code=body.get("dom_code"), modified=datetime.now(), status="active")
prog_engine.save(program)
diff --git a/coderbot/program.py b/coderbot/program.py
index 388a6da9..76dd7900 100644
--- a/coderbot/program.py
+++ b/coderbot/program.py
@@ -127,10 +127,14 @@ def save(self, program):
else:
self._programs.insert(program_db_entry)
- def load(self, name):
+ def load(self, name, active_only=True):
with self.lock:
query = Query()
- program_db_entries = self._programs.search(query.name == name)
+ program_db_entries = None
+ if active_only:
+ program_db_entries = self._programs.search((query.name == name) & (query.status == PROGRAM_STATUS_ACTIVE))
+ else:
+ program_db_entries = self._programs.search(query.name == name)
if len(program_db_entries) > 0:
prog_db_entry = program_db_entries[0]
#logging.debug(prog_db_entry)
From 8198e097068aed7e2c0a2a5b451c43f93dadd6b6 Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Sun, 27 Aug 2023 11:51:43 +0100
Subject: [PATCH 40/60] fix
---
coderbot/activity.py | 21 ++++++++++++++++++---
1 file changed, 18 insertions(+), 3 deletions(-)
diff --git a/coderbot/activity.py b/coderbot/activity.py
index 0477447b..5e92a830 100644
--- a/coderbot/activity.py
+++ b/coderbot/activity.py
@@ -1,3 +1,4 @@
+import logging
from tinydb import TinyDB, Query
from threading import Lock
from datetime import datetime
@@ -29,11 +30,16 @@ def __init__(self):
self.activities = TinyDB("data/activities.json")
self.query = Query()
self.lock = Lock()
+ self.permanentlyRemoveDeletedActivities()
- def load(self, name, default):
+ def load(self, name, default, active_only=True):
with self.lock:
if name and default is None:
- activities = self.activities.search(self.query.name == name)
+ activities = []
+ if active_only:
+ self.activities.search((self.query.name == name) & (self.query.status == ACTIVITY_STATUS_ACTIVE))
+ else:
+ self.activities.search(self.query.name == name)
if len(activities) > 0:
return activities[0]
elif default is not None:
@@ -66,7 +72,16 @@ def delete(self, name, logical = True):
else:
self.activities.remove(self.query.name == activity["name"])
+ def permanentlyRemoveDeletedActivities(self):
+ for a in self.list(active_only=False):
+ logging.info("checking: " + a["name"])
+ if a["status"] == ACTIVITY_STATUS_DELETED:
+ logging.info("deleting: " + a["name"])
+ self.delete(a["name"], logical=False)
def list(self, active_only = True):
with self.lock:
- return self.activities.search(self.query.status == ACTIVITY_STATUS_ACTIVE)
+ if active_only:
+ return self.activities.search(self.query.status == ACTIVITY_STATUS_ACTIVE)
+ else:
+ return self.activities.all()
From bfaa25874225a290cbf67bc851ed08477fd61e5d Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Sun, 27 Aug 2023 17:33:58 +0100
Subject: [PATCH 41/60] fix
---
coderbot/activity.py | 16 ++++++++--------
1 file changed, 8 insertions(+), 8 deletions(-)
diff --git a/coderbot/activity.py b/coderbot/activity.py
index 5e92a830..68b30d8b 100644
--- a/coderbot/activity.py
+++ b/coderbot/activity.py
@@ -37,9 +37,9 @@ def load(self, name, default, active_only=True):
if name and default is None:
activities = []
if active_only:
- self.activities.search((self.query.name == name) & (self.query.status == ACTIVITY_STATUS_ACTIVE))
+ activities = self.activities.search((self.query.name == name) & (self.query.status == ACTIVITY_STATUS_ACTIVE))
else:
- self.activities.search(self.query.name == name)
+ activities = self.activities.search(self.query.name == name)
if len(activities) > 0:
return activities[0]
elif default is not None:
@@ -51,26 +51,26 @@ def load(self, name, default, active_only=True):
def save(self, name, activity):
with self.lock:
# if saved activity is "default", reset existing default activity to "non-default"
- if activity.get("default", False) is True:
+ if self.query.get("default", False) is True:
self.activities.update({'default': False})
if self.activities.search(self.query.name == name) == []:
self.activities.insert(activity)
else:
- self.activities.update(activity, self.query.name == activity["name"])
+ self.activities.update(activity, self.query.name == self.query._name)
def delete(self, name, logical = True):
with self.lock:
activities = self.activities.search(self.query.name == name)
if len(activities) > 0:
activity = activities[0]
- if activity.get("default", False) is True:
+ if self.query.get("default", False) is True:
self.activities.update({'default': True}, self.query.stock == True)
if logical:
- activity["status"] = ACTIVITY_STATUS_DELETED
+ self.query._status = ACTIVITY_STATUS_DELETED
activity["modified"] = datetime.now().isoformat()
- self.activities.update(activity, self.query.name == name)
+ self.activities.update(activity, self.self.query.name == name)
else:
- self.activities.remove(self.query.name == activity["name"])
+ self.activities.remove(self.query.name == self.query._name)
def permanentlyRemoveDeletedActivities(self):
for a in self.list(active_only=False):
From 6969fea8c4c3578d40022c3842044843a2231c59 Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Sun, 27 Aug 2023 17:44:37 +0100
Subject: [PATCH 42/60] fix
---
coderbot/activity.py | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/coderbot/activity.py b/coderbot/activity.py
index 68b30d8b..1c48b3e7 100644
--- a/coderbot/activity.py
+++ b/coderbot/activity.py
@@ -56,7 +56,7 @@ def save(self, name, activity):
if self.activities.search(self.query.name == name) == []:
self.activities.insert(activity)
else:
- self.activities.update(activity, self.query.name == self.query._name)
+ self.activities.update(activity, self.query.name == name)
def delete(self, name, logical = True):
with self.lock:
@@ -70,7 +70,7 @@ def delete(self, name, logical = True):
activity["modified"] = datetime.now().isoformat()
self.activities.update(activity, self.self.query.name == name)
else:
- self.activities.remove(self.query.name == self.query._name)
+ self.activities.remove(self.query.name == name)
def permanentlyRemoveDeletedActivities(self):
for a in self.list(active_only=False):
From f63918411dbbab2655aeeb7e67ea3689f10e804d Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Sun, 27 Aug 2023 17:55:33 +0100
Subject: [PATCH 43/60] fix
---
coderbot/activity.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/coderbot/activity.py b/coderbot/activity.py
index 1c48b3e7..3935566c 100644
--- a/coderbot/activity.py
+++ b/coderbot/activity.py
@@ -51,7 +51,7 @@ def load(self, name, default, active_only=True):
def save(self, name, activity):
with self.lock:
# if saved activity is "default", reset existing default activity to "non-default"
- if self.query.get("default", False) is True:
+ if activity.get("default", False) is True:
self.activities.update({'default': False})
if self.activities.search(self.query.name == name) == []:
self.activities.insert(activity)
From 24dde58a51f5b99c5d9c080eef814ab2617ada72 Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Sun, 27 Aug 2023 19:07:46 +0100
Subject: [PATCH 44/60] fix
---
coderbot/activity.py | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/coderbot/activity.py b/coderbot/activity.py
index 3935566c..b0906e12 100644
--- a/coderbot/activity.py
+++ b/coderbot/activity.py
@@ -63,12 +63,12 @@ def delete(self, name, logical = True):
activities = self.activities.search(self.query.name == name)
if len(activities) > 0:
activity = activities[0]
- if self.query.get("default", False) is True:
+ if activity.get("default", False) is True:
self.activities.update({'default': True}, self.query.stock == True)
if logical:
- self.query._status = ACTIVITY_STATUS_DELETED
+ activity["status"] = ACTIVITY_STATUS_DELETED
activity["modified"] = datetime.now().isoformat()
- self.activities.update(activity, self.self.query.name == name)
+ self.activities.update(activity, self.query.name == name)
else:
self.activities.remove(self.query.name == name)
From f50165b60feea193ded918a31870b1c872564017 Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Sat, 23 Dec 2023 17:33:25 +0000
Subject: [PATCH 45/60] wip
---
coderbot/activity.py | 2 +-
coderbot/api.py | 48 ++++++++++++++++++++++----------------------
coderbot/main.py | 2 +-
coderbot/v1.yml | 4 ++++
4 files changed, 30 insertions(+), 26 deletions(-)
diff --git a/coderbot/activity.py b/coderbot/activity.py
index b0906e12..18f24c3c 100644
--- a/coderbot/activity.py
+++ b/coderbot/activity.py
@@ -64,7 +64,7 @@ def delete(self, name, logical = True):
if len(activities) > 0:
activity = activities[0]
if activity.get("default", False) is True:
- self.activities.update({'default': True}, self.query.stock == True)
+ self.activities.update({'default': True}, self.query.kind == ACTIVITY_KIND_STOCK)
if logical:
activity["status"] = ACTIVITY_STATUS_DELETED
activity["modified"] = datetime.now().isoformat()
diff --git a/coderbot/api.py b/coderbot/api.py
index 0f377c64..91b73624 100644
--- a/coderbot/api.py
+++ b/coderbot/api.py
@@ -123,31 +123,31 @@ def get_info():
def stop():
bot.stop()
- return 200
+ return {}
def move(body):
speed=body.get("speed")
elapse=body.get("elapse")
distance=body.get("distance")
if (speed is None or speed == 0) or (elapse is not None and distance is not None):
- return 400
+ return None, 400
bot.move(speed=speed, elapse=elapse, distance=distance)
- return 200
+ return {}
def turn(body):
speed=body.get("speed")
elapse=body.get("elapse")
distance=body.get("distance")
if (speed is None or speed == 0) or (elapse is not None and distance is not None):
- return 400
+ return None, 400
bot.turn(speed=speed, elapse=elapse, distance=distance)
- return 200
+ return {}
def takePhoto():
try:
cam.photo_take()
audio_device.say(settings.get("sound_shutter"))
- return 200
+ return {}
except Exception as e:
logging.warning("Error: %s", e)
@@ -155,7 +155,7 @@ def recVideo():
try:
cam.video_rec()
audio_device.say(settings.get("sound_shutter"))
- return 200
+ return {}
except Exception as e:
logging.warning("Error: %s", e)
@@ -163,7 +163,7 @@ def stopVideo():
try:
cam.video_stop()
audio_device.say(settings.get("sound_shutter"))
- return 200
+ return {}
except Exception as e:
logging.warning("Error: %s", e)
@@ -172,16 +172,16 @@ def speak(body):
locale = body.get("locale", "")
logging.debug("say: " + text + " in: " + locale)
audio_device.say(text, locale)
- return 200
+ return {}
def reset():
Balena.get_instance().purge()
- return 200
+ return {}
def halt():
audio_device.say(what=settings.get("sound_stop"))
Balena.get_instance().shutdown()
- return 200
+ return {}
def restart():
Balena.get_instance().restart()
@@ -189,7 +189,7 @@ def restart():
def reboot():
audio_device.say(what=settings.get("sound_stop"))
Balena.get_instance().reboot()
- return 200
+ return {}
def video_stream(a_cam):
while True:
@@ -223,22 +223,22 @@ def getPhoto(name):
return send_file(media_file, mimetype=mimetype.get(name[:-3], 'image/jpeg'), max_age=0)
except picamera.exc.PiCameraError as e:
logging.error("Error: %s", str(e))
- return 503
+ return {"exception": str(e)}, 503
except FileNotFoundError:
- return 404
+ return None, 404
def savePhoto(name, body):
try:
cam.update_photo({"name": name, "tag": body.get("tag")})
except FileNotFoundError:
- return 404
+ return None, 404
def deletePhoto(name):
logging.debug("photo delete")
try:
cam.delete_photo(name)
except FileNotFoundError:
- return 404
+ return None, 404
def restoreSettings():
Config.restore()
@@ -249,14 +249,14 @@ def loadSettings():
def saveSettings(body):
Config.write(body)
- return 200
+ return Config.write(body)
def updateFromPackage():
os.system('sudo bash /home/pi/clean-update.sh')
file_to_upload = connexion.request.files['file_to_upload']
file_to_upload.save(os.path.join('/home/pi/', 'update.tar'))
os.system('sudo reboot')
- return 200
+ return {}
def listMusicPackages():
"""
@@ -291,7 +291,7 @@ def deleteMusicPackage(name):
"""
musicPkg = MusicPackageManager.get_instance()
musicPkg.deletePackage(name)
- return 200
+ return {}
## Programs
@@ -305,14 +305,14 @@ def saveProgram(name, body):
return "defaultCannotOverwrite", 400
program = Program(name=body.get("name"), code=body.get("code"), dom_code=body.get("dom_code"), modified=datetime.now(), status="active")
prog_engine.save(program)
- return 200
+ return {}
def loadProgram(name):
existing_program = prog_engine.load(name)
if existing_program:
return existing_program.as_dict(), 200
else:
- return 404
+ return None, 404
def deleteProgram(name):
prog_engine.delete(name, logical=True)
@@ -415,18 +415,18 @@ def deleteCNNModel(name):
def cloudSyncRequest():
CloudManager.get_instance().sync()
- return 200
+ return {}
def cloudSyncStatus():
return CloudManager.get_instance().sync_status()
def cloudRegistrationRequest(body):
CloudManager.get_instance().register(body)
- return 200
+ return {}
def cloudRegistrationDelete():
CloudManager.get_instance().unregister()
- return 200
+ return {}
def cloudRegistrationStatus():
registration = cloud_settings.get('registration', {})
diff --git a/coderbot/main.py b/coderbot/main.py
index f6b6f9b5..43b85144 100644
--- a/coderbot/main.py
+++ b/coderbot/main.py
@@ -32,7 +32,7 @@
# Serve a custom version of the swagger ui (Jinja2 templates) based on the default one
# from the folder 'swagger-ui'. Clone the 'swagger-ui' repository inside the backend folder
-options = {"swagger_ui": False}
+options = {"swagger_ui": True}
connexionApp = connexion.App(__name__, options=options)
# Connexion wraps FlaskApp, so app becomes connexionApp.app
diff --git a/coderbot/v1.yml b/coderbot/v1.yml
index 8539dbb5..8bb36c5e 100644
--- a/coderbot/v1.yml
+++ b/coderbot/v1.yml
@@ -30,6 +30,10 @@ paths:
responses:
200:
description: "ok"
+ content:
+ application/json:
+ schema:
+ $ref: '#/components/schemas/Settings'
tags:
- CoderBot configuration
/settings/restore:
From 4967d4d734bb93c55e6fabff0106957f3b795ab3 Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Sun, 24 Dec 2023 10:14:16 +0000
Subject: [PATCH 46/60] bumo deps
---
coderbot/api.py | 18 -------------
coderbot/main.py | 69 ++++++++++++++++++++++++++----------------------
requirements.txt | 27 +++++++++----------
3 files changed, 50 insertions(+), 64 deletions(-)
diff --git a/coderbot/api.py b/coderbot/api.py
index 91b73624..f41723fe 100644
--- a/coderbot/api.py
+++ b/coderbot/api.py
@@ -30,24 +30,6 @@
BUTTON_PIN = 16
-settings = Config.read().get("settings")
-network_settings = Config.read().get("network")
-cloud_settings = Config.read().get("cloud")
-
-bot = CoderBot.get_instance(settings=settings, motor_trim_factor=float(settings.get('move_motor_trim', 1.0)),
- motor_max_power=int(settings.get('motor_max_power', 100)),
- motor_min_power=int(settings.get('motor_min_power', 0)),
- hw_version=settings.get('hardware_version'),
- pid_params=(float(settings.get('pid_kp', 1.0)),
- float(settings.get('pid_kd', 0.1)),
- float(settings.get('pid_ki', 0.01)),
- float(settings.get('pid_max_speed', 200)),
- float(settings.get('pid_sample_time', 0.01))))
-audio_device = Audio.get_instance(settings)
-cam = Camera.get_instance(settings)
-Motion.get_instance(settings)
-CNNManager.get_instance(settings)
-
def get_serial():
"""
Extract serial from cpuinfo file
diff --git a/coderbot/main.py b/coderbot/main.py
index 43b85144..681f18c4 100644
--- a/coderbot/main.py
+++ b/coderbot/main.py
@@ -7,8 +7,9 @@
import logging.handlers
import picamera
import connexion
-
-from flask_cors import CORS
+from connexion.options import SwaggerUIOptions
+from connexion.middleware import MiddlewarePosition
+from starlette.middleware.cors import CORSMiddleware
from camera import Camera
from motion import Motion
@@ -23,29 +24,26 @@
# Logging configuration
logger = logging.getLogger()
logger.setLevel(os.environ.get("LOGLEVEL", "INFO"))
-# sh = logging.StreamHandler()
-# formatter = logging.Formatter('%(message)s')
-# sh.setFormatter(formatter)
-# logger.addHandler(sh)
## (Connexion) Flask app configuration
-
# Serve a custom version of the swagger ui (Jinja2 templates) based on the default one
# from the folder 'swagger-ui'. Clone the 'swagger-ui' repository inside the backend folder
-options = {"swagger_ui": True}
-connexionApp = connexion.App(__name__, options=options)
-
-# Connexion wraps FlaskApp, so app becomes connexionApp.app
-app = connexionApp.app
-# Access-Control-Allow-Origin
-CORS(app)
-app.debug = False
+swagger_ui_options = SwaggerUIOptions(swagger_ui=True)
+app = connexion.App(__name__, swagger_ui_options=swagger_ui_options)
+app.add_middleware(
+ CORSMiddleware,
+ position=MiddlewarePosition.BEFORE_EXCEPTION,
+ allow_origins=["*"],
+ allow_credentials=True,
+ allow_methods=["*"],
+ allow_headers=["*"],
+)
app.prog_engine = ProgramEngine.get_instance()
## New API and web application
# API v1 is defined in v1.yml and its methods are in api.py
-connexionApp.add_api('v1.yml')
+app.add_api('v1.yml')
def button_pushed():
if app.settings.get('button_func') == "startstop":
@@ -67,41 +65,50 @@ def run_server():
cam = None
try:
try:
- app.settings = Config.read().get("settings")
-
- bot = CoderBot.get_instance()
-
+ settings = Config.read().get("settings")
+ app.settings = settings
+ network_settings = Config.read().get("network")
+ cloud_settings = Config.read().get("cloud")
+
+ bot = CoderBot.get_instance(settings=settings, motor_trim_factor=float(settings.get('move_motor_trim', 1.0)),
+ motor_max_power=int(settings.get('motor_max_power', 100)),
+ motor_min_power=int(settings.get('motor_min_power', 0)),
+ hw_version=settings.get('hardware_version'),
+ pid_params=(float(settings.get('pid_kp', 1.0)),
+ float(settings.get('pid_kd', 0.1)),
+ float(settings.get('pid_ki', 0.01)),
+ float(settings.get('pid_max_speed', 200)),
+ float(settings.get('pid_sample_time', 0.01))))
try:
- audio_device = Audio.get_instance()
- audio_device.set_volume(int(app.settings.get('audio_volume_level')), 100)
- audio_device.say(app.settings.get("sound_start"))
+ audio_device = Audio.get_instance(settings)
+ audio_device.set_volume(int(settings.get('audio_volume_level')), 100)
+ audio_device.say(settings.get("sound_start"))
except Exception:
logging.warning("Audio not present")
-
try:
- cam = Camera.get_instance()
- Motion.get_instance()
+ cam = Camera.get_instance(settings)
+ Motion.get_instance(settings)
except picamera.exc.PiCameraError:
logging.warning("Camera not present")
- CNNManager.get_instance(app.settings)
+ CNNManager.get_instance(settings)
EventManager.get_instance("coderbot")
- if app.settings.get('load_at_start') and app.settings.get('load_at_start'):
- prog = app.prog_engine.load(app.settings.get('load_at_start'))
+ if settings.get('load_at_start') and settings.get('load_at_start'):
+ prog = app.prog_engine.load(settings.get('load_at_start'))
prog.execute()
CloudManager.get_instance()
except ValueError as e:
- app.settings = {}
+ settings = {}
logging.error(e)
bot.set_callback(bot.GPIOS.PIN_PUSHBUTTON, button_pushed, 100)
remove_doreset_file()
- app.run(host="0.0.0.0", port=5000, debug=False, use_reloader=False, threaded=True)
+ app.run(host="0.0.0.0", port=5000)
finally:
if cam:
cam.exit()
diff --git a/requirements.txt b/requirements.txt
index 6734cd58..6f8eae55 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,32 +1,29 @@
# API framework
-connexion==2.14.2
-Flask==2.2.3
-Flask-Cors==3.0.10
-tinydb==4.7.1
-Werkzeug==2.2.3
+connexion[uvicorn,swagger-ui]==3.0.5
+tinydb==4.8.0
cloud_api_robot_client @ git+https://github.com/CoderBotOrg/cloud_api_robot_client.git
# Misc utils
-setuptools==67.4.0
+setuptools==69.0.3
event-channel==0.4.3
# IO extensions
pigpio==1.78
-smbus2==0.4.2
-spidev==3.5
+smbus2==0.4.3
+spidev==3.6
# Audio
sox==1.4.1
-PyAudio==0.2.12
-pyalsaaudio==0.9.2
+PyAudio==0.2.14
+pyalsaaudio==0.10.0
# Computer Vision
-grpcio==1.48.1
-numpy==1.24.2
-Pillow==9.4.0
-protobuf==4.22.0
+grpcio==1.60.0
+numpy==1.24.3
+Pillow==10.1.0
+protobuf==4.25.1
opencv-contrib-python==4.5.5.62
-tflite-runtime==2.11.0
+tflite-runtime==2.12.0
pytesseract==0.3.10
picamera==1.13
pyzbar==0.1.9
From ffcb801f86890784b473daf70f96a8c25d78e39d Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Sun, 24 Dec 2023 10:21:11 +0000
Subject: [PATCH 47/60] bump deps
---
docker/stub/requirements.txt | 21 +++++++++------------
1 file changed, 9 insertions(+), 12 deletions(-)
diff --git a/docker/stub/requirements.txt b/docker/stub/requirements.txt
index a758a746..7913b788 100644
--- a/docker/stub/requirements.txt
+++ b/docker/stub/requirements.txt
@@ -1,27 +1,24 @@
# API framework
-connexion==2.14.2
-Flask==2.2.3
-Flask-Cors==3.0.10
-tinydb==4.7.1
-Werkzeug==2.2.3
+connexion[uvicorn,swagger-ui]==3.0.5
+tinydb==4.8.0
cloud_api_robot_client @ git+https://github.com/CoderBotOrg/cloud_api_robot_client.git
# Misc utils
-setuptools==67.4.0
+setuptools==69.0.3
event-channel==0.4.3
# IO extensions
-spidev==3.5
+spidev==3.6
# Audio
sox==1.4.1
# Computer Vision
-grpcio==1.48.1
-numpy==1.24.2
-Pillow==9.4.0
-protobuf==4.22.0
+grpcio==1.60.0
+numpy==1.24.3
+Pillow==10.1.0
+protobuf==4.25.1
opencv-contrib-python==4.5.5.62
-tflite-runtime==2.11.0
+tflite-runtime==2.12.0
pytesseract==0.3.10
pyzbar==0.1.9
From b6a4401e42f5d4e60671226322ec530bac185b02 Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Sun, 24 Dec 2023 10:29:48 +0000
Subject: [PATCH 48/60] bump deps
---
docker/stub/requirements.txt | 2 +-
requirements.txt | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/docker/stub/requirements.txt b/docker/stub/requirements.txt
index 7913b788..662a4dc3 100644
--- a/docker/stub/requirements.txt
+++ b/docker/stub/requirements.txt
@@ -1,5 +1,5 @@
# API framework
-connexion[uvicorn,swagger-ui]==3.0.5
+connexion[uvicorn,flask,swagger-ui]==3.0.5
tinydb==4.8.0
cloud_api_robot_client @ git+https://github.com/CoderBotOrg/cloud_api_robot_client.git
diff --git a/requirements.txt b/requirements.txt
index 6f8eae55..dc2210a3 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,5 +1,5 @@
# API framework
-connexion[uvicorn,swagger-ui]==3.0.5
+connexion[uvicorn,flask,swagger-ui]==3.0.5
tinydb==4.8.0
cloud_api_robot_client @ git+https://github.com/CoderBotOrg/cloud_api_robot_client.git
From d8ef62223eda29e67e8539922273b2bfbdb1a126 Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Sun, 24 Dec 2023 14:39:21 +0000
Subject: [PATCH 49/60] fix audio_devide
---
coderbot/api.py | 12 ++++++------
1 file changed, 6 insertions(+), 6 deletions(-)
diff --git a/coderbot/api.py b/coderbot/api.py
index f41723fe..f82d7e03 100644
--- a/coderbot/api.py
+++ b/coderbot/api.py
@@ -128,7 +128,7 @@ def turn(body):
def takePhoto():
try:
cam.photo_take()
- audio_device.say(settings.get("sound_shutter"))
+ Audio.get_instance().say(settings.get("sound_shutter"))
return {}
except Exception as e:
logging.warning("Error: %s", e)
@@ -136,7 +136,7 @@ def takePhoto():
def recVideo():
try:
cam.video_rec()
- audio_device.say(settings.get("sound_shutter"))
+ Audio.get_instance().say(settings.get("sound_shutter"))
return {}
except Exception as e:
logging.warning("Error: %s", e)
@@ -144,7 +144,7 @@ def recVideo():
def stopVideo():
try:
cam.video_stop()
- audio_device.say(settings.get("sound_shutter"))
+ Audio.get_instance().say(settings.get("sound_shutter"))
return {}
except Exception as e:
logging.warning("Error: %s", e)
@@ -153,7 +153,7 @@ def speak(body):
text = body.get("text", "")
locale = body.get("locale", "")
logging.debug("say: " + text + " in: " + locale)
- audio_device.say(text, locale)
+ Audio.get_instance().say(text, locale)
return {}
def reset():
@@ -161,7 +161,7 @@ def reset():
return {}
def halt():
- audio_device.say(what=settings.get("sound_stop"))
+ Audio.get_instance().say(what=settings.get("sound_stop"))
Balena.get_instance().shutdown()
return {}
@@ -169,7 +169,7 @@ def restart():
Balena.get_instance().restart()
def reboot():
- audio_device.say(what=settings.get("sound_stop"))
+ Audio.get_instance().say(what=settings.get("sound_stop"))
Balena.get_instance().reboot()
return {}
From e929c0e960644b138d45cb07156d0a929aa5054e Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Sun, 24 Dec 2023 14:44:36 +0000
Subject: [PATCH 50/60] fix bot, cam
---
coderbot/api.py | 24 ++++++++++++------------
1 file changed, 12 insertions(+), 12 deletions(-)
diff --git a/coderbot/api.py b/coderbot/api.py
index f82d7e03..6344bdd7 100644
--- a/coderbot/api.py
+++ b/coderbot/api.py
@@ -67,7 +67,7 @@ def get_status():
internet_status = False
try:
- urllib.request.urlopen("https://coderbot.org")
+ urllib.request.urlopen("https://coderCoderBot.get_instance().org")
internet_status = True
except Exception:
pass
@@ -104,7 +104,7 @@ def get_info():
## Robot control
def stop():
- bot.stop()
+ CoderBot.get_instance().stop()
return {}
def move(body):
@@ -113,7 +113,7 @@ def move(body):
distance=body.get("distance")
if (speed is None or speed == 0) or (elapse is not None and distance is not None):
return None, 400
- bot.move(speed=speed, elapse=elapse, distance=distance)
+ CoderBot.get_instance().move(speed=speed, elapse=elapse, distance=distance)
return {}
def turn(body):
@@ -122,12 +122,12 @@ def turn(body):
distance=body.get("distance")
if (speed is None or speed == 0) or (elapse is not None and distance is not None):
return None, 400
- bot.turn(speed=speed, elapse=elapse, distance=distance)
+ CoderBot.get_instance().turn(speed=speed, elapse=elapse, distance=distance)
return {}
def takePhoto():
try:
- cam.photo_take()
+ Camera.get_instance().photo_take()
Audio.get_instance().say(settings.get("sound_shutter"))
return {}
except Exception as e:
@@ -135,7 +135,7 @@ def takePhoto():
def recVideo():
try:
- cam.video_rec()
+ Camera.get_instance().video_rec()
Audio.get_instance().say(settings.get("sound_shutter"))
return {}
except Exception as e:
@@ -143,7 +143,7 @@ def recVideo():
def stopVideo():
try:
- cam.video_stop()
+ Camera.get_instance().video_stop()
Audio.get_instance().say(settings.get("sound_shutter"))
return {}
except Exception as e:
@@ -196,12 +196,12 @@ def listPhotos():
"""
Expose the list of taken photos
"""
- return cam.get_photo_list()
+ return Camera.get_instance().get_photo_list()
def getPhoto(name):
mimetype = {'jpg': 'image/jpeg', 'mp4': 'video/mp4'}
try:
- media_file = cam.get_photo_file(name)
+ media_file = Camera.get_instance().get_photo_file(name)
return send_file(media_file, mimetype=mimetype.get(name[:-3], 'image/jpeg'), max_age=0)
except picamera.exc.PiCameraError as e:
logging.error("Error: %s", str(e))
@@ -211,14 +211,14 @@ def getPhoto(name):
def savePhoto(name, body):
try:
- cam.update_photo({"name": name, "tag": body.get("tag")})
+ Camera.get_instance().update_photo({"name": name, "tag": body.get("tag")})
except FileNotFoundError:
return None, 404
def deletePhoto(name):
logging.debug("photo delete")
try:
- cam.delete_photo(name)
+ Camera.get_instance().delete_photo(name)
except FileNotFoundError:
return None, 404
@@ -377,7 +377,7 @@ def trainCNNModel(body):
cnn.train_new_model(model_name=body.get("model_name"),
architecture=body.get("architecture"),
image_tags=body.get("image_tags"),
- photos_meta=cam.get_photo_list(),
+ photos_meta=Camera.get_instance().get_photo_list(),
training_steps=body.get("training_steps"),
learning_rate=body.get("learning_rate"))
From c89f25c835d203665bb7ea6924339bc3ed13cd6b Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Sun, 24 Dec 2023 19:36:21 +0000
Subject: [PATCH 51/60] fix video stream
---
coderbot/api.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/coderbot/api.py b/coderbot/api.py
index 6344bdd7..3487fb69 100644
--- a/coderbot/api.py
+++ b/coderbot/api.py
@@ -188,7 +188,7 @@ def streamVideo():
h.add('Age', 0)
h.add('Cache-Control', 'no-cache, private')
h.add('Pragma', 'no-cache')
- return Response(video_stream(cam), headers=h, mimetype="multipart/x-mixed-replace; boundary=--BOUNDARYSTRING")
+ return Response(video_stream(Camera.get_instance()), headers=h, mimetype="multipart/x-mixed-replace; boundary=--BOUNDARYSTRING")
except Exception:
pass
From 9ad105105a7a3d1ea4d377bbfd56d1b99794e91e Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Thu, 28 Dec 2023 22:30:20 +0000
Subject: [PATCH 52/60] add uuid
---
coderbot/activity.py | 41 +++++----
coderbot/api.py | 58 +++++++-----
coderbot/cloud/__init__.py | 18 ++--
coderbot/main.py | 1 -
coderbot/program.py | 43 +++++----
coderbot/v1.yml | 89 ++++++++++++++-----
defaults/config.json | 6 +-
defaults/programs/program_demo_ar_tags.json | 2 +-
.../programs/program_demo_cat_follower.json | 2 +-
.../programs/program_demo_color_seeker.json | 2 +-
defaults/programs/program_demo_io_ext.json | 2 +-
.../programs/program_demo_line_follower.json | 2 +-
.../program_demo_obstacle_avoidance.json | 2 +-
.../programs/program_demo_roboetologist.json | 2 +-
.../program_demo_sound_clap_control.json | 2 +-
.../programs/program_test_cnn_classifier.json | 2 +-
.../program_test_cnn_object_detect.json | 2 +-
defaults/programs/program_test_find_code.json | 2 +-
.../programs/program_test_find_color.json | 2 +-
defaults/programs/program_test_find_face.json | 2 +-
.../program_test_find_path_ahead.json | 2 +-
.../programs/program_test_img_average.json | 2 +-
defaults/programs/program_test_input.json | 2 +-
defaults/programs/program_test_led.json | 2 +-
defaults/programs/program_test_music.json | 2 +-
defaults/programs/program_test_output.json | 2 +-
defaults/programs/program_test_sonars.json | 2 +-
.../programs/program_test_sound_hear.json | 2 +-
defaults/programs/program_test_sound_rec.json | 2 +-
29 files changed, 185 insertions(+), 115 deletions(-)
diff --git a/coderbot/activity.py b/coderbot/activity.py
index 18f24c3c..b7e8ab73 100644
--- a/coderbot/activity.py
+++ b/coderbot/activity.py
@@ -1,4 +1,5 @@
import logging
+import uuid
from tinydb import TinyDB, Query
from threading import Lock
from datetime import datetime
@@ -9,13 +10,6 @@
ACTIVITY_KIND_STOCK = "stock"
ACTIVITY_KIND_USER = "user"
-class Activity():
- def __init__(self, name, description, data, kind, status):
- self._name = name
- self._description = description
- self._data = data
- self._kind = kind
- self._status = status
class Activities():
_instance = None
@@ -32,14 +26,14 @@ def __init__(self):
self.lock = Lock()
self.permanentlyRemoveDeletedActivities()
- def load(self, name, default, active_only=True):
+ def load(self, id, default, active_only=True):
with self.lock:
- if name and default is None:
+ if id and default is None:
activities = []
if active_only:
- activities = self.activities.search((self.query.name == name) & (self.query.status == ACTIVITY_STATUS_ACTIVE))
+ activities = self.activities.search((self.query.id == id) & (self.query.status == ACTIVITY_STATUS_ACTIVE))
else:
- activities = self.activities.search(self.query.name == name)
+ activities = self.activities.search(self.query.id == id)
if len(activities) > 0:
return activities[0]
elif default is not None:
@@ -48,19 +42,24 @@ def load(self, name, default, active_only=True):
return None
return None
- def save(self, name, activity):
+ def save(self, activity):
+ if activity.get("id") is None:
+ activity["id"] = str(uuid.uuid4())
with self.lock:
# if saved activity is "default", reset existing default activity to "non-default"
if activity.get("default", False) is True:
self.activities.update({'default': False})
- if self.activities.search(self.query.name == name) == []:
- self.activities.insert(activity)
+ if self.activities.search(self.query.id == activity.get("id")) == []:
+ activity = self.activities.insert(activity)
else:
- self.activities.update(activity, self.query.name == name)
+ self.activities.update(activity, self.query.id == activity.get("id"))
+ activity = self.activities.search(self.query.id == activity.get("id"))[0]
+ logging.info("updating/creating activity: %s", str(activity))
+ return activity
- def delete(self, name, logical = True):
+ def delete(self, id, logical = True):
with self.lock:
- activities = self.activities.search(self.query.name == name)
+ activities = self.activities.search(self.query.id == id)
if len(activities) > 0:
activity = activities[0]
if activity.get("default", False) is True:
@@ -68,16 +67,16 @@ def delete(self, name, logical = True):
if logical:
activity["status"] = ACTIVITY_STATUS_DELETED
activity["modified"] = datetime.now().isoformat()
- self.activities.update(activity, self.query.name == name)
+ self.activities.update(activity, self.query.id == id)
else:
- self.activities.remove(self.query.name == name)
+ self.activities.remove(self.query.id == id)
def permanentlyRemoveDeletedActivities(self):
for a in self.list(active_only=False):
- logging.info("checking: " + a["name"])
+ logging.info("checking: " + a["id"])
if a["status"] == ACTIVITY_STATUS_DELETED:
logging.info("deleting: " + a["name"])
- self.delete(a["name"], logical=False)
+ self.delete(a["id"], logical=False)
def list(self, active_only = True):
with self.lock:
diff --git a/coderbot/api.py b/coderbot/api.py
index 3487fb69..9b381f6c 100644
--- a/coderbot/api.py
+++ b/coderbot/api.py
@@ -277,41 +277,58 @@ def deleteMusicPackage(name):
## Programs
-def saveProgram(name, body):
+def saveNewProgram(body):
overwrite = body.get("overwrite")
- existing_program = prog_engine.load(name)
+ name = body["name"]
+ existing_program = prog_engine.load_by_name(name)
logging.info("saving - name: %s, body: %s", name, str(existing_program))
if existing_program is not None and not overwrite:
return "askOverwrite"
elif existing_program is not None and existing_program.is_stock() == True:
return "defaultCannotOverwrite", 400
program = Program(name=body.get("name"), code=body.get("code"), dom_code=body.get("dom_code"), modified=datetime.now(), status="active")
+ program_db_entry = prog_engine.save(program)
+ return program_db_entry
+
+def saveProgram(id, body):
+ overwrite = body.get("overwrite")
+ name = body["name"]
+ existing_program = prog_engine.load(id)
+ logging.info("saving - id: %s - name: %s - existing: %s", id, name, str(existing_program is not None))
+ if existing_program is not None and existing_program.is_stock() == True:
+ return "defaultCannotOverwrite", 400
+ program = Program(
+ id=existing_program._id,
+ name=existing_program._name,
+ code=body.get("code"),
+ dom_code=body.get("dom_code"),
+ modified=datetime.now(),
+ status="active")
prog_engine.save(program)
- return {}
+ return program.as_dict()
-def loadProgram(name):
- existing_program = prog_engine.load(name)
+def loadProgram(id):
+ existing_program = prog_engine.load(id)
if existing_program:
return existing_program.as_dict(), 200
else:
return None, 404
-def deleteProgram(name):
- prog_engine.delete(name, logical=True)
+def deleteProgram(id):
+ prog_engine.delete(id, logical=True)
def listPrograms():
return prog_engine.prog_list(active_only=True)
-def runProgram(name, body):
+def runProgram(id):
"""
Execute the given program
"""
logging.debug("program_exec")
- code = body.get('code')
- prog = prog_engine.create(name, code)
+ prog = prog_engine.load(id)
return prog.execute()
-def stopProgram(name):
+def stopProgram(id):
"""
Stop the program execution
"""
@@ -321,7 +338,7 @@ def stopProgram(name):
prog.stop()
return "ok"
-def statusProgram(name):
+def statusProgram(id):
"""
Expose the program status
"""
@@ -334,19 +351,20 @@ def statusProgram(name):
## Activities
-def saveActivity(name, body):
+def saveActivity(id, body):
activity = body
- activities.save(activity.get("name"), activity)
+ activity["id"] = id
+ return activities.save(activity)
def saveAsNewActivity(body):
activity = body
- activities.save(activity.get("name"), activity)
+ return activities.save(activity)
-def loadActivity(name=None, default=None):
- return activities.load(name, default)
+def loadActivity(id=None, default=None):
+ return activities.load(id, default)
-def deleteActivity(name):
- activities.delete(name), 200
+def deleteActivity(id):
+ activities.delete(id), 200
def listActivities():
return activities.list()
@@ -411,7 +429,7 @@ def cloudRegistrationDelete():
return {}
def cloudRegistrationStatus():
- registration = cloud_settings.get('registration', {})
+ registration = Config.read().get("cloud").get('registration', {})
return {
"registered": CloudManager.get_instance().registration_status(),
"name": registration.get('name', ""),
diff --git a/coderbot/cloud/__init__.py b/coderbot/cloud/__init__.py
index 40a600a3..7d767859 100644
--- a/coderbot/cloud/__init__.py
+++ b/coderbot/cloud/__init__.py
@@ -35,6 +35,7 @@
SYNC_UPSTREAM = 'u'
SYNC_DOWNSTREAM = 'd'
SYNC_BIDIRECTIONAL = 'b'
+SYNC_DISABLED = 'n'
ENTITY_KIND_USER = "user"
ENTITY_KIND_STOCK = "stock"
@@ -197,7 +198,7 @@ def sync_settings(self, api_instance, sync_mode):
config = Config.read()
local_setting = {
"settings": config.get("settings"),
- "cloud": config.get("cloud")
+ #"cloud": config.get("cloud")
}
local_most_recent = datetime.fromisoformat(cloud_setting_object.get("modified")).timestamp() < Config.modified()
cloud_kind_user = cloud_setting_object.get("kind") == ENTITY_KIND_USER
@@ -217,7 +218,7 @@ def sync_settings(self, api_instance, sync_mode):
logging.info("settings.upstream")
elif cloud_setting != local_setting: # setting, down
config["settings"] = cloud_setting["settings"]
- config["cloud"] = cloud_setting["cloud"]
+ #config["cloud"] = cloud_setting["cloud"]
Config.write(config)
logging.info("settings.downstream")
self._sync_status["settings"] = "synced"
@@ -280,8 +281,8 @@ def sync_activities(self, api_instance, sync_mode):
elif sync_mode == "d" or (not local_activity_more_recent and sync_mode == SYNC_BIDIRECTIONAL):
al["data"] = ac.get("data")
al["modified"] = ac.get("modified")
- Activities.get_instance().save(al.get("name"), al)
- logging.info("activities.update.downstream: " + al.get("name"))
+ Activities.get_instance().save(al)
+ logging.info("activities.update.downstream: " + al.get("id"))
elif ac is None and sync_mode in [SYNC_UPSTREAM, SYNC_BIDIRECTIONAL]:
body = Activity(
id="",
@@ -296,7 +297,7 @@ def sync_activities(self, api_instance, sync_mode):
api_response = api_instance.create_robot_activity(body=body)
al["id"] = api_response.body["id"]
al["org_id"] = api_response.body["org_id"]
- Activities.get_instance().save(al.get("name"), al)
+ Activities.get_instance().save(al)
logging.info("activities.create.upstream: " + al.get("name"))
elif ac is None and sync_mode in [SYNC_DOWNSTREAM]:
Activities.get_instance().delete(al.get("name"))
@@ -312,7 +313,7 @@ def sync_activities(self, api_instance, sync_mode):
activity["description"] = ac.get("description")
activity["kind"] = ac.get("kind")
activity["status"] = ac.get("status")
- Activities.get_instance().save(ac.get("name"), activity)
+ Activities.get_instance().save(activity)
# manage local user activities to be deleted locally and upstream
for al in activities_local_to_be_deleted:
@@ -320,7 +321,7 @@ def sync_activities(self, api_instance, sync_mode):
logging.info("activities.delete.upstream: " + al.get("name"))
api_response = api_instance.delete_robot_program(path_params={"activity_id":al.get("id")})
# delete locally permanently
- Activities.get_instance().delete(al.get("name"), logical=False)
+ Activities.get_instance().delete(al.get("id"), logical=False)
# manage local stock activities to be deleted locally
for al in activities_local_stock:
@@ -328,7 +329,7 @@ def sync_activities(self, api_instance, sync_mode):
if al.get("id") is not None and activities_cloud_map.get(al.get("id")) is None:
logging.info("activities.delete.stock.locally: " + al.get("name"))
# delete locally permanently
- Activities.get_instance().delete(al.get("name"), logical=False)
+ Activities.get_instance().delete(al.get("id"), logical=False)
self._sync_status["activities"] = "synced"
except cloud_api_robot_client.ApiException as e:
@@ -369,6 +370,7 @@ def sync_programs(self, api_instance, sync_mode):
for pl in programs_local_user:
pc = programs_cloud_map.get(pl.get("id"))
pc_pl_equals = (pc is not None and
+ pc.get("id") == pl.get("id") and
pc.get("name") == pl.get("name") and
pc.get("code") == pl.get("code") and
pc.get("dom_code") == pl.get("dom_code") and
diff --git a/coderbot/main.py b/coderbot/main.py
index 681f18c4..9a715aa6 100644
--- a/coderbot/main.py
+++ b/coderbot/main.py
@@ -68,7 +68,6 @@ def run_server():
settings = Config.read().get("settings")
app.settings = settings
network_settings = Config.read().get("network")
- cloud_settings = Config.read().get("cloud")
bot = CoderBot.get_instance(settings=settings, motor_trim_factor=float(settings.get('move_motor_trim', 1.0)),
motor_max_power=int(settings.get('motor_max_power', 100)),
diff --git a/coderbot/program.py b/coderbot/program.py
index 76dd7900..d78e9d4d 100644
--- a/coderbot/program.py
+++ b/coderbot/program.py
@@ -20,6 +20,7 @@
import os
import threading
import json
+import uuid
import shutil
import logging
from datetime import datetime
@@ -92,7 +93,7 @@ def __init__(self, settings):
for filename in filenames:
if PROGRAM_PREFIX in filename:
program_name = filename[len(PROGRAM_PREFIX):-len(PROGRAM_SUFFIX)]
- if self.load(program_name) is None:
+ if self.load_by_name(program_name) is None:
logging.info("adding program %s in path %s as default %r", program_name, dirname, ("default" in dirname))
with open(os.path.join(dirname, filename), "r") as f:
program_dict = json.load(f)
@@ -122,19 +123,20 @@ def save(self, program):
program._modified = datetime.now()
self._program = program
program_db_entry = self._program.as_dict()
- if self._programs.search(query.name == program.name) != []:
- self._programs.update(program_db_entry, query.name == program.name)
+ if self._programs.search(query.id == program._id) != []:
+ self._programs.update(program_db_entry, query.id == program._id)
else:
self._programs.insert(program_db_entry)
+ return program_db_entry
- def load(self, name, active_only=True):
+ def load(self, id, active_only=True):
with self.lock:
query = Query()
program_db_entries = None
if active_only:
- program_db_entries = self._programs.search((query.name == name) & (query.status == PROGRAM_STATUS_ACTIVE))
+ program_db_entries = self._programs.search((query.id == id) & (query.status == PROGRAM_STATUS_ACTIVE))
else:
- program_db_entries = self._programs.search(query.name == name)
+ program_db_entries = self._programs.search(query.id == id)
if len(program_db_entries) > 0:
prog_db_entry = program_db_entries[0]
#logging.debug(prog_db_entry)
@@ -142,26 +144,31 @@ def load(self, name, active_only=True):
return self._program
return None
- def delete(self, name, logical = True):
+ def load_by_name(self, name):
+ with self.lock:
+ program = None
+ query = Query()
+ programs = self._programs.search((query.name == name) & (query.status == PROGRAM_STATUS_ACTIVE))
+ if len(programs) > 0:
+ program = Program.from_dict(programs[0])
+ return program
+
+ def delete(self, id, logical = True):
with self.lock:
query = Query()
- program_db_entries = self._programs.search(query.name == name)
+ program_db_entries = self._programs.search(query.id == id)
if len(program_db_entries) > 0:
program_db_entry = program_db_entries[0]
if logical:
program_db_entry["status"] = PROGRAM_STATUS_DELETED
program_db_entry["modified"] = datetime.now().isoformat()
- self._programs.update(program_db_entry, query.name == name)
+ self._programs.update(program_db_entry, query.id == id)
else:
- self._programs.remove(query.name == name)
+ self._programs.remove(query.id == id)
return None
- def create(self, name, code):
- self._program = Program(name, code, modified=datetime.now())
- return self._program
-
- def is_running(self, name):
- return self._program.is_running() and self._program.name == name
+ def is_running(self, id):
+ return self._program.is_running() and self._program.id == id
def check_end(self):
return self._program.check_end()
@@ -185,14 +192,14 @@ class Program:
def dom_code(self):
return self._dom_code
- def __init__(self, name, description=None, code=None, dom_code=None, kind=PROGRAM_KIND_USER, id=None, modified=None, status=None):
+ def __init__(self, name, id=str(uuid.uuid4()), description=None, code=None, dom_code=None, kind=PROGRAM_KIND_USER, modified=None, status=None):
self._thread = None
+ self._id = id
self._name = name
self._description = description
self._dom_code = dom_code
self._code = code
self._kind = kind
- self._id = id
self._modified = modified
self._status = status
diff --git a/coderbot/v1.yml b/coderbot/v1.yml
index 8bb36c5e..86677cdd 100644
--- a/coderbot/v1.yml
+++ b/coderbot/v1.yml
@@ -155,6 +155,27 @@ paths:
description: "ok"
/programs:
+ post:
+ operationId: "api.saveNewProgram"
+ summary: "Save a new program"
+ tags:
+ - Program management
+ requestBody:
+ description: Program object
+ required: true
+ content:
+ application/json:
+ schema:
+ $ref: '#/components/schemas/Program'
+ responses:
+ 200:
+ description: "ok"
+ content:
+ application/json:
+ schema:
+ $ref: '#/components/schemas/Program'
+ 400:
+ description: "Failed to save the program"
get:
operationId: "api.listPrograms"
summary: "Get the list of all the saved programs"
@@ -164,12 +185,12 @@ paths:
200:
description: "ok"
- /programs/{name}:
+ /programs/{id}:
get:
operationId: "api.loadProgram"
summary: "Get the program with the specified name"
parameters:
- - name: name
+ - name: id
in: path
required: true
schema:
@@ -183,7 +204,7 @@ paths:
operationId: "api.deleteProgram"
summary: "Delete a program"
parameters:
- - name: name
+ - name: id
in: path
required: true
schema:
@@ -199,7 +220,7 @@ paths:
tags:
- Program management
parameters:
- - name: name
+ - name: id
in: path
required: true
schema:
@@ -217,37 +238,30 @@ paths:
400:
description: "Failed to save the program"
- /programs/{name}/run:
+ /programs/{id}/run:
post:
operationId: "api.runProgram"
summary: "Execute the given program"
tags:
- Program management
parameters:
- - name: name
+ - name: id
in: path
required: true
schema:
type: string
- requestBody:
- description: Program object
- required: true
- content:
- application/json:
- schema:
- $ref: '#/components/schemas/Program'
responses:
200:
description: "ok"
- /programs/{name}/status:
+ /programs/{id}/status:
get:
operationId: "api.statusProgram"
summary: "Get the status of the given program"
tags:
- Program management
parameters:
- - name: name
+ - name: id
in: path
required: true
schema:
@@ -256,14 +270,14 @@ paths:
200:
description: "ok"
- /programs/{name}/stop:
+ /programs/{id}/stop:
patch:
operationId: "api.stopProgram"
summary: "Stop the given program"
tags:
- Program management
parameters:
- - name: name
+ - name: id
in: path
required: true
schema:
@@ -281,6 +295,13 @@ paths:
responses:
200:
description: "ok"
+ content:
+ application/json:
+ schema:
+ type: array
+ items:
+ $ref: '#/components/schemas/Activity'
+
post:
operationId: "api.saveAsNewActivity"
summary: "Save a new activity"
@@ -296,14 +317,18 @@ paths:
responses:
200:
description: "ok"
+ content:
+ application/json:
+ schema:
+ $ref: '#/components/schemas/Activity'
400:
description: "Failed to save the activity"
- /activities/{name}:
+ /activities/{id}:
get:
operationId: "api.loadActivity"
summary: "Get the activity with the specified name"
parameters:
- - name: name
+ - name: id
in: path
required: true
schema:
@@ -318,11 +343,16 @@ paths:
responses:
200:
description: "ok"
+ content:
+ application/json:
+ schema:
+ $ref: '#/components/schemas/Activity'
+
put:
operationId: "api.saveActivity"
- summary: "Save the activity with the specified name"
+ summary: "Save the activity with the specified id"
parameters:
- - name: name
+ - name: id
in: path
required: true
schema:
@@ -339,13 +369,18 @@ paths:
responses:
200:
description: "ok"
+ content:
+ application/json:
+ schema:
+ $ref: '#/components/schemas/Activity'
+
delete:
operationId: "api.deleteActivity"
summary: "Delete an activity"
tags:
- Activity management
parameters:
- - name: name
+ - name: id
in: path
required: true
schema:
@@ -752,6 +787,11 @@ components:
Program:
type: object
properties:
+ id:
+ type: string
+ #pattern: '^[[:xdigit:]]{8}(?:\-[[:xdigit:]]{4}){3}\-[[:xdigit:]]{12}$'
+ minLength: 36
+ maxLength: 36
name:
type: string
pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
@@ -773,6 +813,11 @@ components:
Activity:
type: object
properties:
+ id:
+ type: string
+ #pattern: '^[[:xdigit:]]{8}(?:\-[[:xdigit:]]{4}){3}\-[[:xdigit:]]{12}$/
+ minLength: 36
+ maxLength: 36
name:
type: string
minLength: 1
diff --git a/defaults/config.json b/defaults/config.json
index 518c66fc..6c43815a 100644
--- a/defaults/config.json
+++ b/defaults/config.json
@@ -52,9 +52,9 @@
},
"cloud":{
"sync_modes":{
- "activities":"b",
- "programs":"b",
- "settings":"b"
+ "activities":"n",
+ "programs":"n",
+ "settings":"n"
},
"sync_period":"10",
"reg_otp":"AB1234CD"
diff --git a/defaults/programs/program_demo_ar_tags.json b/defaults/programs/program_demo_ar_tags.json
index 86699bac..901ff1bc 100644
--- a/defaults/programs/program_demo_ar_tags.json
+++ b/defaults/programs/program_demo_ar_tags.json
@@ -1 +1 @@
-{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><variables><variable type=\"\" id=\"t0%]}C@b{,qd7|sPe9zc\">tag_map</variable><variable type=\"\" id=\"6J?]Su~9cMcJ?1k)5D+=\">code</variable><variable type=\"\" id=\"w5)*3TcHccLvv^WOkh`c\">lista</variable><variable type=\"\" id=\"1J4H~VmQG*H$]$Q_:B__\">codes</variable><variable type=\"\" id=\"NC[lQ:--CtUITd)_|c$p\">positions</variable></variables><block type=\"controls_whileUntil\" id=\"@h-]#0?:MKRG}h:8:^x9\" x=\"-30\" y=\"144\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"#`fvr:O?_:Ttu0Bf{!]|\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\" id=\"=^-j5Ga1MVnuBee97Y@C\"><field name=\"VAR\" id=\"t0%]}C@b{,qd7|sPe9zc\" variabletype=\"\">tag_map</field><value name=\"VALUE\"><block type=\"coderbot_adv_findARCode\" id=\"s#f+e.r41WtcACO*8E@R\"></block></value><next><block type=\"variables_set\" id=\"#WGMDf[e(XBFiFV~%T{/\"><field name=\"VAR\" id=\"1J4H~VmQG*H$]$Q_:B__\" variabletype=\"\">codes</field><value name=\"VALUE\"><block type=\"hashmap_get_value\" id=\"8n882RO_@|$b|*I#O`vD\"><value name=\"key\"><block type=\"text\" id=\"o)iJvT6q3wE1n$|w?}@W\"><field name=\"TEXT\">codes</field></block></value><value name=\"map\"><block type=\"variables_get\" id=\"jCx{KU9(=6P@.|peNlXN\"><field name=\"VAR\" id=\"t0%]}C@b{,qd7|sPe9zc\" variabletype=\"\">tag_map</field></block></value></block></value><next><block type=\"variables_set\" id=\"bD=(HSHU48zl0{-/~noc\"><field name=\"VAR\" id=\"NC[lQ:--CtUITd)_|c$p\" variabletype=\"\">positions</field><value name=\"VALUE\"><block type=\"hashmap_get_value\" id=\"#vbA+ig3tU@xSb1A|_w2\"><value name=\"key\"><block type=\"text\" id=\"i9_5n1O#`=t.~U,8FpGw\"><field name=\"TEXT\">positions</field></block></value><value name=\"map\"><block type=\"variables_get\" id=\"_JBza([QOX!qv/3VdYg9\"><field name=\"VAR\" id=\"t0%]}C@b{,qd7|sPe9zc\" variabletype=\"\">tag_map</field></block></value></block></value><next><block type=\"controls_if\" id=\"OGk43S34JND/,jXGeVxz\"><value name=\"IF0\"><block type=\"logic_compare\" id=\"0JLvc%7rD_C|!6cqFw-$\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"lists_length\" id=\"J_lY]]zCbQ[u!MMD-Id2\"><value name=\"VALUE\"><block type=\"variables_get\" id=\"kD{*,b/[9X1eU%FDp-mJ\"><field name=\"VAR\" id=\"1J4H~VmQG*H$]$Q_:B__\" variabletype=\"\">codes</field></block></value></block></value><value name=\"B\"><block type=\"math_number\" id=\"EL*s.|ZMPGGbeVRYLFL8\"><field name=\"NUM\">0</field></block></value></block></value><statement name=\"DO0\"><block type=\"controls_if\" id=\"}|0Q`9cnLb|W)A4rACn(\"><value name=\"IF0\"><block type=\"logic_compare\" id=\"SCm%!EpAerkyxrIF#P,5\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"lists_getIndex\" id=\"0NuaF,a-Mq%n]0F5yO71\"><mutation statement=\"false\" at=\"false\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">LAST</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\"h*z9nE!]v$fkNq=L9Z1~\"><mutation statement=\"false\" at=\"false\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FIRST</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"TufaIZ~qb|Vm:zW)ks^F\"><field name=\"VAR\" id=\"NC[lQ:--CtUITd)_|c$p\" variabletype=\"\">positions</field></block></value></block></value></block></value><value name=\"B\"><block type=\"math_number\" id=\"PCV}Dn!d_nmNHl([4UL8\"><field name=\"NUM\">150</field></block></value></block></value><statement name=\"DO0\"><block type=\"variables_set\" id=\"k,p,V2i8b9cLa+XvIA1(\"><field name=\"VAR\" id=\"6J?]Su~9cMcJ?1k)5D+=\" variabletype=\"\">code</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\":+(Y+3IFohgd9%TmK,~h\"><mutation statement=\"false\" at=\"false\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FIRST</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"@3wq8S#-um/Akpz8P@)N\"><field name=\"VAR\" id=\"1J4H~VmQG*H$]$Q_:B__\" variabletype=\"\">codes</field></block></value></block></value><next><block type=\"text_print\" id=\"{9n*QwIw`Xz2rr%]!||i\"><value name=\"TEXT\"><block type=\"variables_get\" id=\"g(BLm4y~J!I]Is)_+e.G\"><field name=\"VAR\" id=\"1J4H~VmQG*H$]$Q_:B__\" variabletype=\"\">codes</field></block></value><next><block type=\"controls_if\" id=\"a-*{EC|T*!~|Jy1T;ky#\"><mutation elseif=\"4\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"vBhZBNkW2fzfWPMBh7PA\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"|hM?o_^1/MjiZMk9f-Hi\"><field name=\"VAR\" id=\"6J?]Su~9cMcJ?1k)5D+=\" variabletype=\"\">code</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"T)cl7En!l}Tz;C{RAQmS\"><field name=\"NUM\">1</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\" id=\"Qf$Tb:D7*.]1HC0#SV-w\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_number\" id=\"),wc.^}!FuO^[.fR5q+.\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"LvWv=:PuvKwdQKUqC!?Y\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_adv_move\" id=\"ks-wQ/9rha8HgY/5D7h8\"><field name=\"ACTION\">LEFT</field><value name=\"SPEED\"><block type=\"math_number\" id=\"QC$[#;#k/{[cXjT9|rFM\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"r7k/daFIIP-h9r4]b*[I\"><field name=\"NUM\">1</field></block></value></block></next></block></statement><value name=\"IF1\"><block type=\"logic_compare\" id=\"1Bn+v{5X{t^w6~QWeM49\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"eortt4PGO/b|wmiM5W[m\"><field name=\"VAR\" id=\"6J?]Su~9cMcJ?1k)5D+=\" variabletype=\"\">code</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"lmmlOegf8o|uu},4OJNW\"><field name=\"NUM\">2</field></block></value></block></value><statement name=\"DO1\"><block type=\"coderbot_adv_move\" id=\"w$$-?Uh:1Rl@;`E*Av6C\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_number\" id=\"F:8LVYpTX]{Ox!iCa[U*\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"O)?`ZH~wDS@v!2JAwVA8\"><field name=\"NUM\">3</field></block></value></block></statement><value name=\"IF2\"><block type=\"logic_compare\" id=\";I.JQ{LcQebMq+Nm7o?I\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"|/1VTr97/4/eDb~hP?{g\"><field name=\"VAR\" id=\"6J?]Su~9cMcJ?1k)5D+=\" variabletype=\"\">code</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"{/N?L?9p9,Vpq9+JpM+}\"><field name=\"NUM\">3</field></block></value></block></value><statement name=\"DO2\"><block type=\"coderbot_adv_move\" id=\"[.uLTR$Q5eNd8!6wtvt=\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_number\" id=\"Qzrz#P^X_/TaN@zz_wv`\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"XLk{ic:(6Z=]u-mXr$5#\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_adv_move\" id=\"VbCuoNCr6`._jSHeX}u%\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_number\" id=\"fuihEymc@dwWL(CFQTX#\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"sm0p34bg|Tw%*:JTUF_i\"><field name=\"NUM\">1</field></block></value></block></next></block></statement><value name=\"IF3\"><block type=\"logic_compare\" id=\"Ma(^bi?_`^YErYgp4h,P\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"r@fO;U{M?YQ=Fj9rJJtD\"><field name=\"VAR\" id=\"6J?]Su~9cMcJ?1k)5D+=\" variabletype=\"\">code</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"F./nuSmkfx;j=a.Xb||H\"><field name=\"NUM\">4</field></block></value></block></value><statement name=\"DO3\"><block type=\"controls_repeat_ext\" id=\"!*8%}BA^?C8ncHv`O=y;\"><value name=\"TIMES\"><block type=\"math_number\" id=\"mmRw*r1VW@9EOf*~U`(:\"><field name=\"NUM\">2</field></block></value><statement name=\"DO\"><block type=\"coderbot_adv_move\" id=\"h|=HGhp,p%JLZ6SjVA]d\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_number\" id=\"ZM(/`ez$r4zl0JJXT(4v\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"7j.A;~YcadM%5QQe2n{R\"><field name=\"NUM\">0.5</field></block></value><next><block type=\"coderbot_adv_move\" id=\"YI6yNSOV`Zs^(Ys}w{A4\"><field name=\"ACTION\">LEFT</field><value name=\"SPEED\"><block type=\"math_number\" id=\"Co1AlC0ej9L8xK:DuSzB\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"E3tV*]cN%|8g@UilswEz\"><field name=\"NUM\">0.5</field></block></value></block></next></block></statement><next><block type=\"coderbot_audio_say\" id=\"6IK2cc.l8ZX7+=V*IFjT\"><field name=\"LOCALE\">it</field><value name=\"TEXT\"><block type=\"text\" id=\"+%T8MdX}|,B;r,=+S|Nj\"><field name=\"TEXT\">Sono arrivato!</field></block></value></block></next></block></statement><value name=\"IF4\"><block type=\"logic_compare\" id=\"unM/bY{:-`/BAwdbil*~\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\")HXZ]{NR`iX]-+gBKya6\"><field name=\"VAR\" id=\"6J?]Su~9cMcJ?1k)5D+=\" variabletype=\"\">code</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"MTJWF/*U[,/Aq=)gUK~@\"><field name=\"NUM\">5</field></block></value></block></value><statement name=\"DO4\"><block type=\"coderbot_audio_say\" id=\"$WB=k8dnPq;7!6KtgGSL\"><field name=\"LOCALE\">it</field><value name=\"TEXT\"><block type=\"text\" id=\"KuYp/v**F!_(?,!?~rQp\"><field name=\"TEXT\">Attenzione!</field></block></value></block></statement></block></next></block></next></block></statement></block></statement><next><block type=\"text_print\" id=\"7BYNgrmH0+*5Apcu|R[%\"><value name=\"TEXT\"><block type=\"text\" id=\"YMLXch,ZSheJiLbJ]h~f\"><field name=\"TEXT\"></field></block></value></block></next></block></next></block></next></block></next></block></statement></block></xml>", "code": "tag_map = None\ncode = None\nlista = None\ncodes = None\npositions = None\n\n\nwhile True:\n get_prog_eng().check_end()\n tag_map = get_cam().find_ar_code()\n codes = tag_map.get('codes')\n positions = tag_map.get('positions')\n if len(codes) > 0:\n if positions[0][-1] > 150:\n code = codes[0]\n get_cam().set_text(codes)\n if code == 1:\n get_bot().forward(speed=100, elapse=1)\n get_bot().left(speed=100, elapse=1)\n elif code == 2:\n get_bot().forward(speed=100, elapse=3)\n elif code == 3:\n get_bot().forward(speed=100, elapse=1)\n get_bot().right(speed=100, elapse=1)\n elif code == 4:\n for count in range(2):\n get_prog_eng().check_end()\n get_bot().right(speed=100, elapse=0.5)\n get_bot().left(speed=100, elapse=0.5)\n get_audio().say('Sono arrivato!', locale=\"it\")\n elif code == 5:\n get_audio().say('Attenzione!', locale=\"it\")\n get_cam().set_text('')\n", "name": "demo_ar_tags"}
\ No newline at end of file
+{"id": "5b4cf283-1666-4ada-87c8-234ff0ed37e8", "dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><variables><variable type=\"\" id=\"t0%]}C@b{,qd7|sPe9zc\">tag_map</variable><variable type=\"\" id=\"6J?]Su~9cMcJ?1k)5D+=\">code</variable><variable type=\"\" id=\"w5)*3TcHccLvv^WOkh`c\">lista</variable><variable type=\"\" id=\"1J4H~VmQG*H$]$Q_:B__\">codes</variable><variable type=\"\" id=\"NC[lQ:--CtUITd)_|c$p\">positions</variable></variables><block type=\"controls_whileUntil\" id=\"@h-]#0?:MKRG}h:8:^x9\" x=\"-30\" y=\"144\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"#`fvr:O?_:Ttu0Bf{!]|\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\" id=\"=^-j5Ga1MVnuBee97Y@C\"><field name=\"VAR\" id=\"t0%]}C@b{,qd7|sPe9zc\" variabletype=\"\">tag_map</field><value name=\"VALUE\"><block type=\"coderbot_adv_findARCode\" id=\"s#f+e.r41WtcACO*8E@R\"></block></value><next><block type=\"variables_set\" id=\"#WGMDf[e(XBFiFV~%T{/\"><field name=\"VAR\" id=\"1J4H~VmQG*H$]$Q_:B__\" variabletype=\"\">codes</field><value name=\"VALUE\"><block type=\"hashmap_get_value\" id=\"8n882RO_@|$b|*I#O`vD\"><value name=\"key\"><block type=\"text\" id=\"o)iJvT6q3wE1n$|w?}@W\"><field name=\"TEXT\">codes</field></block></value><value name=\"map\"><block type=\"variables_get\" id=\"jCx{KU9(=6P@.|peNlXN\"><field name=\"VAR\" id=\"t0%]}C@b{,qd7|sPe9zc\" variabletype=\"\">tag_map</field></block></value></block></value><next><block type=\"variables_set\" id=\"bD=(HSHU48zl0{-/~noc\"><field name=\"VAR\" id=\"NC[lQ:--CtUITd)_|c$p\" variabletype=\"\">positions</field><value name=\"VALUE\"><block type=\"hashmap_get_value\" id=\"#vbA+ig3tU@xSb1A|_w2\"><value name=\"key\"><block type=\"text\" id=\"i9_5n1O#`=t.~U,8FpGw\"><field name=\"TEXT\">positions</field></block></value><value name=\"map\"><block type=\"variables_get\" id=\"_JBza([QOX!qv/3VdYg9\"><field name=\"VAR\" id=\"t0%]}C@b{,qd7|sPe9zc\" variabletype=\"\">tag_map</field></block></value></block></value><next><block type=\"controls_if\" id=\"OGk43S34JND/,jXGeVxz\"><value name=\"IF0\"><block type=\"logic_compare\" id=\"0JLvc%7rD_C|!6cqFw-$\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"lists_length\" id=\"J_lY]]zCbQ[u!MMD-Id2\"><value name=\"VALUE\"><block type=\"variables_get\" id=\"kD{*,b/[9X1eU%FDp-mJ\"><field name=\"VAR\" id=\"1J4H~VmQG*H$]$Q_:B__\" variabletype=\"\">codes</field></block></value></block></value><value name=\"B\"><block type=\"math_number\" id=\"EL*s.|ZMPGGbeVRYLFL8\"><field name=\"NUM\">0</field></block></value></block></value><statement name=\"DO0\"><block type=\"controls_if\" id=\"}|0Q`9cnLb|W)A4rACn(\"><value name=\"IF0\"><block type=\"logic_compare\" id=\"SCm%!EpAerkyxrIF#P,5\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"lists_getIndex\" id=\"0NuaF,a-Mq%n]0F5yO71\"><mutation statement=\"false\" at=\"false\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">LAST</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\"h*z9nE!]v$fkNq=L9Z1~\"><mutation statement=\"false\" at=\"false\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FIRST</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"TufaIZ~qb|Vm:zW)ks^F\"><field name=\"VAR\" id=\"NC[lQ:--CtUITd)_|c$p\" variabletype=\"\">positions</field></block></value></block></value></block></value><value name=\"B\"><block type=\"math_number\" id=\"PCV}Dn!d_nmNHl([4UL8\"><field name=\"NUM\">150</field></block></value></block></value><statement name=\"DO0\"><block type=\"variables_set\" id=\"k,p,V2i8b9cLa+XvIA1(\"><field name=\"VAR\" id=\"6J?]Su~9cMcJ?1k)5D+=\" variabletype=\"\">code</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\":+(Y+3IFohgd9%TmK,~h\"><mutation statement=\"false\" at=\"false\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FIRST</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"@3wq8S#-um/Akpz8P@)N\"><field name=\"VAR\" id=\"1J4H~VmQG*H$]$Q_:B__\" variabletype=\"\">codes</field></block></value></block></value><next><block type=\"text_print\" id=\"{9n*QwIw`Xz2rr%]!||i\"><value name=\"TEXT\"><block type=\"variables_get\" id=\"g(BLm4y~J!I]Is)_+e.G\"><field name=\"VAR\" id=\"1J4H~VmQG*H$]$Q_:B__\" variabletype=\"\">codes</field></block></value><next><block type=\"controls_if\" id=\"a-*{EC|T*!~|Jy1T;ky#\"><mutation elseif=\"4\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"vBhZBNkW2fzfWPMBh7PA\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"|hM?o_^1/MjiZMk9f-Hi\"><field name=\"VAR\" id=\"6J?]Su~9cMcJ?1k)5D+=\" variabletype=\"\">code</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"T)cl7En!l}Tz;C{RAQmS\"><field name=\"NUM\">1</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\" id=\"Qf$Tb:D7*.]1HC0#SV-w\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_number\" id=\"),wc.^}!FuO^[.fR5q+.\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"LvWv=:PuvKwdQKUqC!?Y\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_adv_move\" id=\"ks-wQ/9rha8HgY/5D7h8\"><field name=\"ACTION\">LEFT</field><value name=\"SPEED\"><block type=\"math_number\" id=\"QC$[#;#k/{[cXjT9|rFM\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"r7k/daFIIP-h9r4]b*[I\"><field name=\"NUM\">1</field></block></value></block></next></block></statement><value name=\"IF1\"><block type=\"logic_compare\" id=\"1Bn+v{5X{t^w6~QWeM49\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"eortt4PGO/b|wmiM5W[m\"><field name=\"VAR\" id=\"6J?]Su~9cMcJ?1k)5D+=\" variabletype=\"\">code</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"lmmlOegf8o|uu},4OJNW\"><field name=\"NUM\">2</field></block></value></block></value><statement name=\"DO1\"><block type=\"coderbot_adv_move\" id=\"w$$-?Uh:1Rl@;`E*Av6C\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_number\" id=\"F:8LVYpTX]{Ox!iCa[U*\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"O)?`ZH~wDS@v!2JAwVA8\"><field name=\"NUM\">3</field></block></value></block></statement><value name=\"IF2\"><block type=\"logic_compare\" id=\";I.JQ{LcQebMq+Nm7o?I\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"|/1VTr97/4/eDb~hP?{g\"><field name=\"VAR\" id=\"6J?]Su~9cMcJ?1k)5D+=\" variabletype=\"\">code</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"{/N?L?9p9,Vpq9+JpM+}\"><field name=\"NUM\">3</field></block></value></block></value><statement name=\"DO2\"><block type=\"coderbot_adv_move\" id=\"[.uLTR$Q5eNd8!6wtvt=\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_number\" id=\"Qzrz#P^X_/TaN@zz_wv`\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"XLk{ic:(6Z=]u-mXr$5#\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_adv_move\" id=\"VbCuoNCr6`._jSHeX}u%\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_number\" id=\"fuihEymc@dwWL(CFQTX#\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"sm0p34bg|Tw%*:JTUF_i\"><field name=\"NUM\">1</field></block></value></block></next></block></statement><value name=\"IF3\"><block type=\"logic_compare\" id=\"Ma(^bi?_`^YErYgp4h,P\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"r@fO;U{M?YQ=Fj9rJJtD\"><field name=\"VAR\" id=\"6J?]Su~9cMcJ?1k)5D+=\" variabletype=\"\">code</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"F./nuSmkfx;j=a.Xb||H\"><field name=\"NUM\">4</field></block></value></block></value><statement name=\"DO3\"><block type=\"controls_repeat_ext\" id=\"!*8%}BA^?C8ncHv`O=y;\"><value name=\"TIMES\"><block type=\"math_number\" id=\"mmRw*r1VW@9EOf*~U`(:\"><field name=\"NUM\">2</field></block></value><statement name=\"DO\"><block type=\"coderbot_adv_move\" id=\"h|=HGhp,p%JLZ6SjVA]d\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_number\" id=\"ZM(/`ez$r4zl0JJXT(4v\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"7j.A;~YcadM%5QQe2n{R\"><field name=\"NUM\">0.5</field></block></value><next><block type=\"coderbot_adv_move\" id=\"YI6yNSOV`Zs^(Ys}w{A4\"><field name=\"ACTION\">LEFT</field><value name=\"SPEED\"><block type=\"math_number\" id=\"Co1AlC0ej9L8xK:DuSzB\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"E3tV*]cN%|8g@UilswEz\"><field name=\"NUM\">0.5</field></block></value></block></next></block></statement><next><block type=\"coderbot_audio_say\" id=\"6IK2cc.l8ZX7+=V*IFjT\"><field name=\"LOCALE\">it</field><value name=\"TEXT\"><block type=\"text\" id=\"+%T8MdX}|,B;r,=+S|Nj\"><field name=\"TEXT\">Sono arrivato!</field></block></value></block></next></block></statement><value name=\"IF4\"><block type=\"logic_compare\" id=\"unM/bY{:-`/BAwdbil*~\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\")HXZ]{NR`iX]-+gBKya6\"><field name=\"VAR\" id=\"6J?]Su~9cMcJ?1k)5D+=\" variabletype=\"\">code</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"MTJWF/*U[,/Aq=)gUK~@\"><field name=\"NUM\">5</field></block></value></block></value><statement name=\"DO4\"><block type=\"coderbot_audio_say\" id=\"$WB=k8dnPq;7!6KtgGSL\"><field name=\"LOCALE\">it</field><value name=\"TEXT\"><block type=\"text\" id=\"KuYp/v**F!_(?,!?~rQp\"><field name=\"TEXT\">Attenzione!</field></block></value></block></statement></block></next></block></next></block></statement></block></statement><next><block type=\"text_print\" id=\"7BYNgrmH0+*5Apcu|R[%\"><value name=\"TEXT\"><block type=\"text\" id=\"YMLXch,ZSheJiLbJ]h~f\"><field name=\"TEXT\"></field></block></value></block></next></block></next></block></next></block></next></block></statement></block></xml>", "code": "tag_map = None\ncode = None\nlista = None\ncodes = None\npositions = None\n\n\nwhile True:\n get_prog_eng().check_end()\n tag_map = get_cam().find_ar_code()\n codes = tag_map.get('codes')\n positions = tag_map.get('positions')\n if len(codes) > 0:\n if positions[0][-1] > 150:\n code = codes[0]\n get_cam().set_text(codes)\n if code == 1:\n get_bot().forward(speed=100, elapse=1)\n get_bot().left(speed=100, elapse=1)\n elif code == 2:\n get_bot().forward(speed=100, elapse=3)\n elif code == 3:\n get_bot().forward(speed=100, elapse=1)\n get_bot().right(speed=100, elapse=1)\n elif code == 4:\n for count in range(2):\n get_prog_eng().check_end()\n get_bot().right(speed=100, elapse=0.5)\n get_bot().left(speed=100, elapse=0.5)\n get_audio().say('Sono arrivato!', locale=\"it\")\n elif code == 5:\n get_audio().say('Attenzione!', locale=\"it\")\n get_cam().set_text('')\n", "name": "demo_ar_tags"}
\ No newline at end of file
diff --git a/defaults/programs/program_demo_cat_follower.json b/defaults/programs/program_demo_cat_follower.json
index 905374e6..bf72dae0 100644
--- a/defaults/programs/program_demo_cat_follower.json
+++ b/defaults/programs/program_demo_cat_follower.json
@@ -1 +1 @@
-{"name": "demo_cat_follower", "dom_code": "<xml xmlns=\"https://developers.google.com/blockly/xml\"><variables><variable id=\",?YI{f}$o~t3-v%!oOh`\">object</variable><variable id=\"9layCHw;-1P!)]pX+m2W\">class</variable><variable id=\"80w]HhW?e7QM%yfJ*[BS\">position</variable><variable id=\"fRn/=2s}a[[jcCloxlyH\">pos_x</variable></variables><block type=\"controls_whileUntil\" id=\"[^a!+/Zsc!iXdJ*Z-Go#\" x=\"43\" y=\"19\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"2Qi5#s+x(vg-{l2glVGI\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\" id=\"0Y_GS_fw!h^YTb,XeKz#\"><field name=\"VAR\" id=\",?YI{f}$o~t3-v%!oOh`\">object</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\"_GYqAA5bQtVd@ICQGW(U\"><mutation statement=\"false\" at=\"false\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FIRST</field><value name=\"VALUE\"><block type=\"coderbot_adv_cnn_detect_objects\" id=\"m(x+AUHK}k[f:xAb;!iH\"><field name=\"MODEL\">generic_object_detect</field></block></value></block></value><next><block type=\"variables_set\" id=\":mq1jiC7D(V_yjV]p+bj\"><field name=\"VAR\" id=\"9layCHw;-1P!)]pX+m2W\">class</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\"gg?Rm?i]1V[@Sk0~,6}U\"><mutation statement=\"false\" at=\"false\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FIRST</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"jWBE:9@+HD)M5w(R6-+R\"><field name=\"VAR\" id=\",?YI{f}$o~t3-v%!oOh`\">object</field></block></value></block></value><next><block type=\"controls_if\" id=\"SoONo/Qzd^PSRs3kDLW4\"><mutation else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"girWO4BMe2k@24#mK9W|\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"9oEqGs$i`cb!|tDMGcUs\"><field name=\"VAR\" id=\"9layCHw;-1P!)]pX+m2W\">class</field></block></value><value name=\"B\"><block type=\"text\" id=\"57hUIBHt5-};Ur^Ym(`p\"><field name=\"TEXT\">cat</field></block></value></block></value><statement name=\"DO0\"><block type=\"variables_set\" id=\":krqJ`zM+j//B~motZ@5\"><field name=\"VAR\" id=\"80w]HhW?e7QM%yfJ*[BS\">position</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\"n*i|7Ey@DqvX+8X;^2fb\"><mutation statement=\"false\" at=\"true\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FROM_START</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"$p#z76Ff-*8z$I:6(%:F\"><field name=\"VAR\" id=\",?YI{f}$o~t3-v%!oOh`\">object</field></block></value><value name=\"AT\"><block type=\"math_number\" id=\"?s]?2J@-Pc6i1f-y{[09\"><field name=\"NUM\">3</field></block></value></block></value><next><block type=\"variables_set\" id=\"[:tR1VyS6qeSU?!D)`sN\"><field name=\"VAR\" id=\"fRn/=2s}a[[jcCloxlyH\">pos_x</field><value name=\"VALUE\"><block type=\"math_arithmetic\" id=\"*U,nQR1[HxPKn8W%pkCz\"><field name=\"OP\">DIVIDE</field><value name=\"A\"><block type=\"math_arithmetic\" id=\"uc.~ggYr?xqXV/.F7s1u\"><field name=\"OP\">ADD</field><value name=\"A\"><block type=\"lists_getIndex\" id=\"kuISxM{Klu36vQ]Jo+P@\"><mutation statement=\"false\" at=\"true\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FROM_START</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"?gyq($9~Uq.~3XY8_J9)\"><field name=\"VAR\" id=\"80w]HhW?e7QM%yfJ*[BS\">position</field></block></value><value name=\"AT\"><block type=\"math_number\" id=\"(1G%d4(*1Vqq?1xk.^{t\"><field name=\"NUM\">1</field></block></value></block></value><value name=\"B\"><block type=\"lists_getIndex\" id=\".Xk?/{p+tLXc=}|OA82n\"><mutation statement=\"false\" at=\"true\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FROM_START</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"|IdyV?|5py+=3,0!:z_A\"><field name=\"VAR\" id=\"80w]HhW?e7QM%yfJ*[BS\">position</field></block></value><value name=\"AT\"><block type=\"math_number\" id=\",Me8:/`3uBpfuBZrA)sp\"><field name=\"NUM\">3</field></block></value></block></value></block></value><value name=\"B\"><block type=\"math_number\" id=\"m~K8F`G6T$ha/a^LdD5Z\"><field name=\"NUM\">2</field></block></value></block></value><next><block type=\"text_print\" id=\"|,^zQ|VUQq/(lt,K`8y0\"><value name=\"TEXT\"><block type=\"variables_get\" id=\"#QdSbUp(4Hn;Xk(4xe0G\"><field name=\"VAR\" id=\"9layCHw;-1P!)]pX+m2W\">class</field></block></value><next><block type=\"controls_if\" id=\"}1i(Om9l5~9.WOIq!=W`\"><mutation elseif=\"1\" else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"~.k].tdW8FF4#-(AeXsM\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"variables_get\" id=\")KUmL+N6#~?rM~GnqH[G\"><field name=\"VAR\" id=\"fRn/=2s}a[[jcCloxlyH\">pos_x</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"l*=6l=SR/g6%(|]$i;}C\"><field name=\"NUM\">40</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\" id=\":YSGyu*XL_u{)zQBD:{X\"><field name=\"ACTION\">LEFT</field><value name=\"SPEED\"><block type=\"math_number\" id=\"de??^JX,i_mkb$RsmNXs\"><field name=\"NUM\">60</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"zs-Cre_[w%5@VNoMwi;l\"><field name=\"NUM\">0.1</field></block></value></block></statement><value name=\"IF1\"><block type=\"logic_compare\" id=\"+S5!K$WfFhj@QhRSokhV\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"variables_get\" id=\"J%|{#:u3(!lcF4.B~gQt\"><field name=\"VAR\" id=\"fRn/=2s}a[[jcCloxlyH\">pos_x</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"[gg?3(+hO-?.%qW,`@t~\"><field name=\"NUM\">60</field></block></value></block></value><statement name=\"DO1\"><block type=\"coderbot_adv_move\" id=\"vA*_d?-Bwh55o,{*%v:G\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_number\" id=\"W}pFMYn/}2RnG+E86e~v\"><field name=\"NUM\">60</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"as/ZY,XwrTw`@Z~O9B`$\"><field name=\"NUM\">0.1</field></block></value></block></statement><statement name=\"ELSE\"><block type=\"coderbot_adv_move\" id=\"Xs:ewoKw*Fg3UK*sRCNm\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_number\" id=\"qSFO9:h}?s~cD:hj(r:(\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"Nh^fXOiu1$x8[$i1C2IV\"><field name=\"NUM\">0.2</field></block></value></block></statement></block></next></block></next></block></next></block></statement><statement name=\"ELSE\"><block type=\"text_print\" id=\"PAYJ[1S)`0Gl#=M`cX=g\"><value name=\"TEXT\"><block type=\"variables_get\" id=\"2nPmKkqF|Y:u3?r=5y|n\"><field name=\"VAR\" id=\",?YI{f}$o~t3-v%!oOh`\">object</field></block></value></block></statement></block></next></block></next></block></statement></block></xml>", "code": "object2 = None\nclass2 = None\nposition = None\npos_x = None\n\n\nwhile True:\n get_prog_eng().check_end()\n object2 = get_cam().cnn_detect_objects(\"generic_object_detect\")[0]\n class2 = object2[0]\n if class2 == 'cat':\n position = object2[2]\n pos_x = (position[0] + position[2]) / 2\n get_cam().set_text(class2)\n if pos_x < 40:\n get_bot().left(speed=60, elapse=0.1)\n elif pos_x > 60:\n get_bot().right(speed=60, elapse=0.1)\n else:\n get_bot().forward(speed=100, elapse=0.2)\n else:\n get_cam().set_text(object2)\n"}
\ No newline at end of file
+{"id": "a4e429dd-b5b4-4f5f-8c2e-5e5f5d557aff", "name": "demo_cat_follower", "dom_code": "<xml xmlns=\"https://developers.google.com/blockly/xml\"><variables><variable id=\",?YI{f}$o~t3-v%!oOh`\">object</variable><variable id=\"9layCHw;-1P!)]pX+m2W\">class</variable><variable id=\"80w]HhW?e7QM%yfJ*[BS\">position</variable><variable id=\"fRn/=2s}a[[jcCloxlyH\">pos_x</variable></variables><block type=\"controls_whileUntil\" id=\"[^a!+/Zsc!iXdJ*Z-Go#\" x=\"43\" y=\"19\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"2Qi5#s+x(vg-{l2glVGI\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\" id=\"0Y_GS_fw!h^YTb,XeKz#\"><field name=\"VAR\" id=\",?YI{f}$o~t3-v%!oOh`\">object</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\"_GYqAA5bQtVd@ICQGW(U\"><mutation statement=\"false\" at=\"false\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FIRST</field><value name=\"VALUE\"><block type=\"coderbot_adv_cnn_detect_objects\" id=\"m(x+AUHK}k[f:xAb;!iH\"><field name=\"MODEL\">generic_object_detect</field></block></value></block></value><next><block type=\"variables_set\" id=\":mq1jiC7D(V_yjV]p+bj\"><field name=\"VAR\" id=\"9layCHw;-1P!)]pX+m2W\">class</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\"gg?Rm?i]1V[@Sk0~,6}U\"><mutation statement=\"false\" at=\"false\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FIRST</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"jWBE:9@+HD)M5w(R6-+R\"><field name=\"VAR\" id=\",?YI{f}$o~t3-v%!oOh`\">object</field></block></value></block></value><next><block type=\"controls_if\" id=\"SoONo/Qzd^PSRs3kDLW4\"><mutation else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"girWO4BMe2k@24#mK9W|\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"9oEqGs$i`cb!|tDMGcUs\"><field name=\"VAR\" id=\"9layCHw;-1P!)]pX+m2W\">class</field></block></value><value name=\"B\"><block type=\"text\" id=\"57hUIBHt5-};Ur^Ym(`p\"><field name=\"TEXT\">cat</field></block></value></block></value><statement name=\"DO0\"><block type=\"variables_set\" id=\":krqJ`zM+j//B~motZ@5\"><field name=\"VAR\" id=\"80w]HhW?e7QM%yfJ*[BS\">position</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\"n*i|7Ey@DqvX+8X;^2fb\"><mutation statement=\"false\" at=\"true\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FROM_START</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"$p#z76Ff-*8z$I:6(%:F\"><field name=\"VAR\" id=\",?YI{f}$o~t3-v%!oOh`\">object</field></block></value><value name=\"AT\"><block type=\"math_number\" id=\"?s]?2J@-Pc6i1f-y{[09\"><field name=\"NUM\">3</field></block></value></block></value><next><block type=\"variables_set\" id=\"[:tR1VyS6qeSU?!D)`sN\"><field name=\"VAR\" id=\"fRn/=2s}a[[jcCloxlyH\">pos_x</field><value name=\"VALUE\"><block type=\"math_arithmetic\" id=\"*U,nQR1[HxPKn8W%pkCz\"><field name=\"OP\">DIVIDE</field><value name=\"A\"><block type=\"math_arithmetic\" id=\"uc.~ggYr?xqXV/.F7s1u\"><field name=\"OP\">ADD</field><value name=\"A\"><block type=\"lists_getIndex\" id=\"kuISxM{Klu36vQ]Jo+P@\"><mutation statement=\"false\" at=\"true\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FROM_START</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"?gyq($9~Uq.~3XY8_J9)\"><field name=\"VAR\" id=\"80w]HhW?e7QM%yfJ*[BS\">position</field></block></value><value name=\"AT\"><block type=\"math_number\" id=\"(1G%d4(*1Vqq?1xk.^{t\"><field name=\"NUM\">1</field></block></value></block></value><value name=\"B\"><block type=\"lists_getIndex\" id=\".Xk?/{p+tLXc=}|OA82n\"><mutation statement=\"false\" at=\"true\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FROM_START</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"|IdyV?|5py+=3,0!:z_A\"><field name=\"VAR\" id=\"80w]HhW?e7QM%yfJ*[BS\">position</field></block></value><value name=\"AT\"><block type=\"math_number\" id=\",Me8:/`3uBpfuBZrA)sp\"><field name=\"NUM\">3</field></block></value></block></value></block></value><value name=\"B\"><block type=\"math_number\" id=\"m~K8F`G6T$ha/a^LdD5Z\"><field name=\"NUM\">2</field></block></value></block></value><next><block type=\"text_print\" id=\"|,^zQ|VUQq/(lt,K`8y0\"><value name=\"TEXT\"><block type=\"variables_get\" id=\"#QdSbUp(4Hn;Xk(4xe0G\"><field name=\"VAR\" id=\"9layCHw;-1P!)]pX+m2W\">class</field></block></value><next><block type=\"controls_if\" id=\"}1i(Om9l5~9.WOIq!=W`\"><mutation elseif=\"1\" else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"~.k].tdW8FF4#-(AeXsM\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"variables_get\" id=\")KUmL+N6#~?rM~GnqH[G\"><field name=\"VAR\" id=\"fRn/=2s}a[[jcCloxlyH\">pos_x</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"l*=6l=SR/g6%(|]$i;}C\"><field name=\"NUM\">40</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\" id=\":YSGyu*XL_u{)zQBD:{X\"><field name=\"ACTION\">LEFT</field><value name=\"SPEED\"><block type=\"math_number\" id=\"de??^JX,i_mkb$RsmNXs\"><field name=\"NUM\">60</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"zs-Cre_[w%5@VNoMwi;l\"><field name=\"NUM\">0.1</field></block></value></block></statement><value name=\"IF1\"><block type=\"logic_compare\" id=\"+S5!K$WfFhj@QhRSokhV\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"variables_get\" id=\"J%|{#:u3(!lcF4.B~gQt\"><field name=\"VAR\" id=\"fRn/=2s}a[[jcCloxlyH\">pos_x</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"[gg?3(+hO-?.%qW,`@t~\"><field name=\"NUM\">60</field></block></value></block></value><statement name=\"DO1\"><block type=\"coderbot_adv_move\" id=\"vA*_d?-Bwh55o,{*%v:G\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_number\" id=\"W}pFMYn/}2RnG+E86e~v\"><field name=\"NUM\">60</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"as/ZY,XwrTw`@Z~O9B`$\"><field name=\"NUM\">0.1</field></block></value></block></statement><statement name=\"ELSE\"><block type=\"coderbot_adv_move\" id=\"Xs:ewoKw*Fg3UK*sRCNm\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_number\" id=\"qSFO9:h}?s~cD:hj(r:(\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"Nh^fXOiu1$x8[$i1C2IV\"><field name=\"NUM\">0.2</field></block></value></block></statement></block></next></block></next></block></next></block></statement><statement name=\"ELSE\"><block type=\"text_print\" id=\"PAYJ[1S)`0Gl#=M`cX=g\"><value name=\"TEXT\"><block type=\"variables_get\" id=\"2nPmKkqF|Y:u3?r=5y|n\"><field name=\"VAR\" id=\",?YI{f}$o~t3-v%!oOh`\">object</field></block></value></block></statement></block></next></block></next></block></statement></block></xml>", "code": "object2 = None\nclass2 = None\nposition = None\npos_x = None\n\n\nwhile True:\n get_prog_eng().check_end()\n object2 = get_cam().cnn_detect_objects(\"generic_object_detect\")[0]\n class2 = object2[0]\n if class2 == 'cat':\n position = object2[2]\n pos_x = (position[0] + position[2]) / 2\n get_cam().set_text(class2)\n if pos_x < 40:\n get_bot().left(speed=60, elapse=0.1)\n elif pos_x > 60:\n get_bot().right(speed=60, elapse=0.1)\n else:\n get_bot().forward(speed=100, elapse=0.2)\n else:\n get_cam().set_text(object2)\n"}
\ No newline at end of file
diff --git a/defaults/programs/program_demo_color_seeker.json b/defaults/programs/program_demo_color_seeker.json
index 5c6e53ae..c5eae413 100644
--- a/defaults/programs/program_demo_color_seeker.json
+++ b/defaults/programs/program_demo_color_seeker.json
@@ -1 +1 @@
-{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><block type=\"controls_whileUntil\" x=\"1\" y=\"90\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\"><field name=\"VAR\">dist</field><value name=\"VALUE\"><block type=\"coderbot_adv_findColor\"><field name=\"RETVAL\">DIST</field><value name=\"COLOR\"><block type=\"text\"><field name=\"TEXT\">#96b73c</field></block></value></block></value><next><block type=\"variables_set\"><field name=\"VAR\">angle</field><value name=\"VALUE\"><block type=\"coderbot_adv_findColor\"><field name=\"RETVAL\">ANGLE</field><value name=\"COLOR\"><block type=\"text\"><field name=\"TEXT\">#96b73c</field></block></value></block></value><next><block type=\"text_print\"><value name=\"TEXT\"><block type=\"text_join\"><mutation items=\"4\"></mutation><value name=\"ADD0\"><block type=\"text\"><field name=\"TEXT\">Distance: </field></block></value><value name=\"ADD1\"><block type=\"variables_get\"><field name=\"VAR\">dist</field></block></value><value name=\"ADD2\"><block type=\"text\"><field name=\"TEXT\"> angle: </field></block></value><value name=\"ADD3\"><block type=\"variables_get\"><field name=\"VAR\">angle</field></block></value></block></value><next><block type=\"controls_if\"><mutation elseif=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"variables_get\"><field name=\"VAR\">dist</field></block></value><value name=\"B\"><block type=\"math_number\"><field name=\"NUM\">32</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_number\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">0.1</field></block></value></block></statement><value name=\"IF1\"><block type=\"logic_operation\"><field name=\"OP\">AND</field><value name=\"A\"><block type=\"logic_compare\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"variables_get\"><field name=\"VAR\">dist</field></block></value><value name=\"B\"><block type=\"math_number\"><field name=\"NUM\">28</field></block></value></block></value><value name=\"B\"><block type=\"logic_compare\"><field name=\"OP\">GTE</field><value name=\"A\"><block type=\"variables_get\"><field name=\"VAR\">dist</field></block></value><value name=\"B\"><block type=\"math_number\"><field name=\"NUM\">0</field></block></value></block></value></block></value><statement name=\"DO1\"><block type=\"coderbot_adv_move\"><field name=\"ACTION\">BACKWARD</field><value name=\"SPEED\"><block type=\"math_number\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">0.1</field></block></value></block></statement><next><block type=\"controls_if\"><mutation elseif=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"variables_get\"><field name=\"VAR\">angle</field></block></value><value name=\"B\"><block type=\"math_number\"><field name=\"NUM\">5</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_number\"><field name=\"NUM\">30</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">0.1</field></block></value></block></statement><value name=\"IF1\"><block type=\"logic_compare\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"variables_get\"><field name=\"VAR\">angle</field></block></value><value name=\"B\"><block type=\"math_number\"><field name=\"NUM\">-5</field></block></value></block></value><statement name=\"DO1\"><block type=\"coderbot_adv_move\"><field name=\"ACTION\">LEFT</field><value name=\"SPEED\"><block type=\"math_number\"><field name=\"NUM\">30</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">0.1</field></block></value></block></statement></block></next></block></next></block></next></block></next></block></statement></block></xml>", "code": "dist = None\nangle = None\n\n\nwhile True:\n get_prog_eng().check_end()\n dist = get_cam().find_color('#96b73c')[0]\n angle = get_cam().find_color('#96b73c')[1]\n get_cam().set_text(''.join([str(temp_value) for temp_value in ['Distance: ', dist, ' angle: ', angle]]))\n if dist > 32:\n get_bot().forward(speed=100, elapse=0.1)\n elif dist < 28 and dist >= 0:\n get_bot().backward(speed=100, elapse=0.1)\n if angle > 5:\n get_bot().right(speed=30, elapse=0.1)\n elif angle < -5:\n get_bot().left(speed=30, elapse=0.1)\n", "name": "demo_color_seeker"}
\ No newline at end of file
+{"id": "d1601ee4-bc8c-49f4-a79e-0015b7c7b1d7", "dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><block type=\"controls_whileUntil\" x=\"1\" y=\"90\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\"><field name=\"VAR\">dist</field><value name=\"VALUE\"><block type=\"coderbot_adv_findColor\"><field name=\"RETVAL\">DIST</field><value name=\"COLOR\"><block type=\"text\"><field name=\"TEXT\">#96b73c</field></block></value></block></value><next><block type=\"variables_set\"><field name=\"VAR\">angle</field><value name=\"VALUE\"><block type=\"coderbot_adv_findColor\"><field name=\"RETVAL\">ANGLE</field><value name=\"COLOR\"><block type=\"text\"><field name=\"TEXT\">#96b73c</field></block></value></block></value><next><block type=\"text_print\"><value name=\"TEXT\"><block type=\"text_join\"><mutation items=\"4\"></mutation><value name=\"ADD0\"><block type=\"text\"><field name=\"TEXT\">Distance: </field></block></value><value name=\"ADD1\"><block type=\"variables_get\"><field name=\"VAR\">dist</field></block></value><value name=\"ADD2\"><block type=\"text\"><field name=\"TEXT\"> angle: </field></block></value><value name=\"ADD3\"><block type=\"variables_get\"><field name=\"VAR\">angle</field></block></value></block></value><next><block type=\"controls_if\"><mutation elseif=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"variables_get\"><field name=\"VAR\">dist</field></block></value><value name=\"B\"><block type=\"math_number\"><field name=\"NUM\">32</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_number\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">0.1</field></block></value></block></statement><value name=\"IF1\"><block type=\"logic_operation\"><field name=\"OP\">AND</field><value name=\"A\"><block type=\"logic_compare\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"variables_get\"><field name=\"VAR\">dist</field></block></value><value name=\"B\"><block type=\"math_number\"><field name=\"NUM\">28</field></block></value></block></value><value name=\"B\"><block type=\"logic_compare\"><field name=\"OP\">GTE</field><value name=\"A\"><block type=\"variables_get\"><field name=\"VAR\">dist</field></block></value><value name=\"B\"><block type=\"math_number\"><field name=\"NUM\">0</field></block></value></block></value></block></value><statement name=\"DO1\"><block type=\"coderbot_adv_move\"><field name=\"ACTION\">BACKWARD</field><value name=\"SPEED\"><block type=\"math_number\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">0.1</field></block></value></block></statement><next><block type=\"controls_if\"><mutation elseif=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"variables_get\"><field name=\"VAR\">angle</field></block></value><value name=\"B\"><block type=\"math_number\"><field name=\"NUM\">5</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_number\"><field name=\"NUM\">30</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">0.1</field></block></value></block></statement><value name=\"IF1\"><block type=\"logic_compare\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"variables_get\"><field name=\"VAR\">angle</field></block></value><value name=\"B\"><block type=\"math_number\"><field name=\"NUM\">-5</field></block></value></block></value><statement name=\"DO1\"><block type=\"coderbot_adv_move\"><field name=\"ACTION\">LEFT</field><value name=\"SPEED\"><block type=\"math_number\"><field name=\"NUM\">30</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">0.1</field></block></value></block></statement></block></next></block></next></block></next></block></next></block></statement></block></xml>", "code": "dist = None\nangle = None\n\n\nwhile True:\n get_prog_eng().check_end()\n dist = get_cam().find_color('#96b73c')[0]\n angle = get_cam().find_color('#96b73c')[1]\n get_cam().set_text(''.join([str(temp_value) for temp_value in ['Distance: ', dist, ' angle: ', angle]]))\n if dist > 32:\n get_bot().forward(speed=100, elapse=0.1)\n elif dist < 28 and dist >= 0:\n get_bot().backward(speed=100, elapse=0.1)\n if angle > 5:\n get_bot().right(speed=30, elapse=0.1)\n elif angle < -5:\n get_bot().left(speed=30, elapse=0.1)\n", "name": "demo_color_seeker"}
\ No newline at end of file
diff --git a/defaults/programs/program_demo_io_ext.json b/defaults/programs/program_demo_io_ext.json
index 315d167b..91632161 100644
--- a/defaults/programs/program_demo_io_ext.json
+++ b/defaults/programs/program_demo_io_ext.json
@@ -1 +1 @@
-{"name": "demo_io_ext", "dom_code": "<xml xmlns=\"https://developers.google.com/blockly/xml\"><variables><variable id=\"L_e%=^0/~b[gZI1*^ZSd\">Analog_Input_1</variable></variables><block type=\"controls_whileUntil\" id=\"Dl?:_j0SBuhadu{w@UF.\" x=\"228\" y=\"37\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"pJCxtUhR_b%x:dTqn9md\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\" id=\"+v#-(`(Qm]QpW/]^kj=k\"><field name=\"VAR\" id=\"L_e%=^0/~b[gZI1*^ZSd\">Analog_Input_1</field><value name=\"VALUE\"><block type=\"coderbot_atmega_get_input\" id=\"ai)*,59_NZc9svsP|JM:\"><field name=\"INPUT\">0</field></block></value><next><block type=\"text_print\" id=\"QtWQNQO[-l[BZ~e`Qmh$\"><value name=\"TEXT\"><block type=\"text_join\" id=\"1Ukw}Lu=x]S?%jKwDJJV\"><mutation items=\"2\"></mutation><value name=\"ADD0\"><block type=\"text\" id=\"Y9wE(=ZJTe,Y=7yA$1+2\"><field name=\"TEXT\">Analog Input 1: </field></block></value><value name=\"ADD1\"><block type=\"variables_get\" id=\"4QrPsC2-~_VL]6GoH_*O\"><field name=\"VAR\" id=\"L_e%=^0/~b[gZI1*^ZSd\">Analog_Input_1</field></block></value></block></value><next><block type=\"controls_if\" id=\"le3Rmn/8;oI#ps$J,7la\"><mutation else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"pm_-a@W30t?pU$DT9!sX\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"variables_get\" id=\"IrfeoxR,w1!`9%NW+elg\"><field name=\"VAR\" id=\"L_e%=^0/~b[gZI1*^ZSd\">Analog_Input_1</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"R4b=e-`S!g*H6T7B1nel\"><field name=\"NUM\">100</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_atmega_set_output\" id=\"yvJ,i1lZv!^Q~}#Co+-i\"><field name=\"OUTPUT\">0</field><value name=\"VALUE\"><block type=\"logic_boolean\" id=\"Peb+]}4!:tv}p4J_B9]z\"><field name=\"BOOL\">TRUE</field></block></value></block></statement><statement name=\"ELSE\"><block type=\"coderbot_atmega_set_output\" id=\"z/@VGWnrW3D(x,d1SZ^y\"><field name=\"OUTPUT\">0</field><value name=\"VALUE\"><block type=\"logic_boolean\" id=\"$yU!z^ZFMBh!(m7s,9*:\"><field name=\"BOOL\">FALSE</field></block></value></block></statement></block></next></block></next></block></statement></block></xml>", "code": "Analog_Input_1 = None\n\n\nwhile True:\n get_prog_eng().check_end()\n Analog_Input_1 = get_atmega().get_input(0)\n get_cam().set_text('Analog Input 1: ' + str(Analog_Input_1))\n if Analog_Input_1 > 100:\n get_atmega().set_output(0, True)\n else:\n get_atmega().set_output(0, False)\n"}
\ No newline at end of file
+{"id": "30e8ea4b-967d-41bb-8d6a-67e12f7f0008", "name": "demo_io_ext", "dom_code": "<xml xmlns=\"https://developers.google.com/blockly/xml\"><variables><variable id=\"L_e%=^0/~b[gZI1*^ZSd\">Analog_Input_1</variable></variables><block type=\"controls_whileUntil\" id=\"Dl?:_j0SBuhadu{w@UF.\" x=\"228\" y=\"37\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"pJCxtUhR_b%x:dTqn9md\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\" id=\"+v#-(`(Qm]QpW/]^kj=k\"><field name=\"VAR\" id=\"L_e%=^0/~b[gZI1*^ZSd\">Analog_Input_1</field><value name=\"VALUE\"><block type=\"coderbot_atmega_get_input\" id=\"ai)*,59_NZc9svsP|JM:\"><field name=\"INPUT\">0</field></block></value><next><block type=\"text_print\" id=\"QtWQNQO[-l[BZ~e`Qmh$\"><value name=\"TEXT\"><block type=\"text_join\" id=\"1Ukw}Lu=x]S?%jKwDJJV\"><mutation items=\"2\"></mutation><value name=\"ADD0\"><block type=\"text\" id=\"Y9wE(=ZJTe,Y=7yA$1+2\"><field name=\"TEXT\">Analog Input 1: </field></block></value><value name=\"ADD1\"><block type=\"variables_get\" id=\"4QrPsC2-~_VL]6GoH_*O\"><field name=\"VAR\" id=\"L_e%=^0/~b[gZI1*^ZSd\">Analog_Input_1</field></block></value></block></value><next><block type=\"controls_if\" id=\"le3Rmn/8;oI#ps$J,7la\"><mutation else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"pm_-a@W30t?pU$DT9!sX\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"variables_get\" id=\"IrfeoxR,w1!`9%NW+elg\"><field name=\"VAR\" id=\"L_e%=^0/~b[gZI1*^ZSd\">Analog_Input_1</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"R4b=e-`S!g*H6T7B1nel\"><field name=\"NUM\">100</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_atmega_set_output\" id=\"yvJ,i1lZv!^Q~}#Co+-i\"><field name=\"OUTPUT\">0</field><value name=\"VALUE\"><block type=\"logic_boolean\" id=\"Peb+]}4!:tv}p4J_B9]z\"><field name=\"BOOL\">TRUE</field></block></value></block></statement><statement name=\"ELSE\"><block type=\"coderbot_atmega_set_output\" id=\"z/@VGWnrW3D(x,d1SZ^y\"><field name=\"OUTPUT\">0</field><value name=\"VALUE\"><block type=\"logic_boolean\" id=\"$yU!z^ZFMBh!(m7s,9*:\"><field name=\"BOOL\">FALSE</field></block></value></block></statement></block></next></block></next></block></statement></block></xml>", "code": "Analog_Input_1 = None\n\n\nwhile True:\n get_prog_eng().check_end()\n Analog_Input_1 = get_atmega().get_input(0)\n get_cam().set_text('Analog Input 1: ' + str(Analog_Input_1))\n if Analog_Input_1 > 100:\n get_atmega().set_output(0, True)\n else:\n get_atmega().set_output(0, False)\n"}
\ No newline at end of file
diff --git a/defaults/programs/program_demo_line_follower.json b/defaults/programs/program_demo_line_follower.json
index 2ad8fb82..2dc76af8 100644
--- a/defaults/programs/program_demo_line_follower.json
+++ b/defaults/programs/program_demo_line_follower.json
@@ -1 +1 @@
-{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><variables><variable type=\"\" id=\"44C`F*i%?EbRAm0f[}XQ\">line_x_1</variable><variable type=\"\" id=\"BShIh7Dye|p!AtQ`p8wj\">lista</variable><variable type=\"\" id=\"(`T?t~cnldIn9}cU!6P3\">line_x_list</variable><variable type=\"\" id=\"+9O~W5dFyMgb4R9?j?2j\">line_x_2</variable><variable type=\"\" id=\"G;b/=HFbfhuxT|0?~S[r\">ar_code</variable><variable type=\"\" id=\"kOrv]Wo^Y7{4+#7gA`K;\">ar_code_list</variable></variables><block type=\"controls_whileUntil\" id=\"`]WZt9m4:b-6v?sR0a{6\" x=\"9\" y=\"103\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"?g7Pi#[#{_)~?7~!MUL]\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\" id=\"n/Jg4jt-?ANdJFh!U#R}\"><field name=\"VAR\" id=\"(`T?t~cnldIn9}cU!6P3\" variabletype=\"\">line_x_list</field><value name=\"VALUE\"><block type=\"coderbot_adv_findLine\" id=\"|O16NyeI_GMcWz}e#ht9\"></block></value><next><block type=\"variables_set\" id=\"d:T;q-q)7$dJ(@9w7DF=\"><field name=\"VAR\" id=\"44C`F*i%?EbRAm0f[}XQ\" variabletype=\"\">line_x_1</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\"oA1x#4CMYuz}p|KK8e~S\"><mutation statement=\"false\" at=\"false\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FIRST</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"CIJd6?@63y$}V34}.bC-\"><field name=\"VAR\" id=\"(`T?t~cnldIn9}cU!6P3\" variabletype=\"\">line_x_list</field></block></value></block></value><next><block type=\"variables_set\" id=\"S2ieOivJB5(|7?}~us@M\"><field name=\"VAR\" id=\"kOrv]Wo^Y7{4+#7gA`K;\" variabletype=\"\">ar_code_list</field><value name=\"VALUE\"><block type=\"hashmap_get_value\" id=\"tgJS~3PX=0SJTSMlsaVv\"><value name=\"key\"><block type=\"text\" id=\"Wz#h:CVLwyX,^(^kc{B`\"><field name=\"TEXT\">codes</field></block></value><value name=\"map\"><block type=\"coderbot_adv_findARCode\" id=\"9$MM{KjS8lUj}A;=Pr(z\"></block></value></block></value><next><block type=\"controls_if\" id=\"IL@9S#Xl-hRa#LwNvh.g\"><mutation else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_negate\" id=\"XQTF1;SNhjc#]4#_}9wU\"><value name=\"BOOL\"><block type=\"lists_isEmpty\" id=\"b^36mV09/]tRws|?BYoK\"><value name=\"VALUE\"><block type=\"variables_get\" id=\";qp!b+zbymPr{3WAvNrG\"><field name=\"VAR\" id=\"kOrv]Wo^Y7{4+#7gA`K;\" variabletype=\"\">ar_code_list</field></block></value></block></value></block></value><statement name=\"DO0\"><block type=\"variables_set\" id=\"uv4pqKisw(|c:|d/Do%J\"><field name=\"VAR\" id=\"G;b/=HFbfhuxT|0?~S[r\" variabletype=\"\">ar_code</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\"a0JACY?SyTgO21=or@D6\"><mutation statement=\"false\" at=\"false\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FIRST</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"ySld:`sc3M4=IjeN*RuO\"><field name=\"VAR\" id=\"kOrv]Wo^Y7{4+#7gA`K;\" variabletype=\"\">ar_code_list</field></block></value></block></value></block></statement><statement name=\"ELSE\"><block type=\"variables_set\" id=\"/f{XE@50=WxbI;,=TeW]\"><field name=\"VAR\" id=\"G;b/=HFbfhuxT|0?~S[r\" variabletype=\"\">ar_code</field><value name=\"VALUE\"><block type=\"math_number\" id=\"@XV^(en_.lQ0_#rZkz}#\"><field name=\"NUM\">0</field></block></value></block></statement><next><block type=\"text_print\" id=\"{f1ctd/iW#D,le1V(Cy-\"><value name=\"TEXT\"><block type=\"variables_get\" id=\"5VI:=npMdg$L|=e0/Okn\"><field name=\"VAR\" id=\"G;b/=HFbfhuxT|0?~S[r\" variabletype=\"\">ar_code</field></block></value><next><block type=\"controls_if\" id=\"GvDQg$7WT=Qq6HBCexdf\"><mutation elseif=\"2\" else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\")M6ls=nOUTB^J;|3-Q@=\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"Y9PB[dJ*r*.*=2([@JT:\"><field name=\"VAR\" id=\"G;b/=HFbfhuxT|0?~S[r\" variabletype=\"\">ar_code</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"e`kkA/p8dDJT4Iu`PtP|\"><field name=\"NUM\">1</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_motor\" id=\"mM!-gOyoBb8xLuEK}:PY\"><value name=\"SPEED_LEFT\"><block type=\"math_number\" id=\"MV9CvsB9cK7#oJv5M+Gy\"><field name=\"NUM\">80</field></block></value><value name=\"SPEED_RIGHT\"><block type=\"math_number\" id=\"@I!w63)Db*b!^mzk?7b-\"><field name=\"NUM\">80</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"xz=GX~R6!L1Lz?RO%xSE\"><field name=\"NUM\">-1</field></block></value><value name=\"STEPS_LEFT\"><block type=\"math_number\" id=\"nSLX(4#c?i({f6gx}h$b\"><field name=\"NUM\">1000</field></block></value><value name=\"STEPS_RIGHT\"><block type=\"math_number\" id=\"3C{Tr^vc`K1K7@whf0+#\"><field name=\"NUM\">1000</field></block></value></block></statement><value name=\"IF1\"><block type=\"logic_compare\" id=\"0[pEKb#+c1ukccsj-HGU\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"!.x!ti5!Jl_Qyi_98vP:\"><field name=\"VAR\" id=\"G;b/=HFbfhuxT|0?~S[r\" variabletype=\"\">ar_code</field></block></value><value name=\"B\"><block type=\"math_number\" id=\":Omnr1TfVKRT,{x+CErC\"><field name=\"NUM\">2</field></block></value></block></value><statement name=\"DO1\"><block type=\"coderbot_adv_motor\" id=\"^@Y|H7}/,1f%m;D)rsqN\"><value name=\"SPEED_LEFT\"><block type=\"math_number\" id=\"tpQfUU_t1N9uX9DDLpNK\"><field name=\"NUM\">60</field></block></value><value name=\"SPEED_RIGHT\"><block type=\"math_number\" id=\"X__|/-/MQqilOsxKk.Vn\"><field name=\"NUM\">60</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"sUK%h7;p?NFy6ej0G@ad\"><field name=\"NUM\">-1</field></block></value><value name=\"STEPS_LEFT\"><block type=\"math_number\" id=\"55Q_(wsMzLOOTn,AJ*=o\"><field name=\"NUM\">2000</field></block></value><value name=\"STEPS_RIGHT\"><block type=\"math_number\" id=\"Q(U)4jCVk5tml,K%_m3X\"><field name=\"NUM\">1550</field></block></value></block></statement><value name=\"IF2\"><block type=\"logic_compare\" id=\"-.]jhYzu{)[`q?J|G*@i\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"TYK1ggBo;v^8(fzNK!PO\"><field name=\"VAR\" id=\"G;b/=HFbfhuxT|0?~S[r\" variabletype=\"\">ar_code</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"D2;EP}Ok0vx,}R7Te.[g\"><field name=\"NUM\">6</field></block></value></block></value><statement name=\"DO2\"><block type=\"coderbot_adv_motor\" id=\"FWt]Cn.Gx+x%y|4TMq*/\"><value name=\"SPEED_LEFT\"><block type=\"math_number\" id=\"PN3gP4:wymcc7g[G,=JC\"><field name=\"NUM\">60</field></block></value><value name=\"SPEED_RIGHT\"><block type=\"math_number\" id=\"$svZ(tsG{Q]%-=QakU@7\"><field name=\"NUM\">60</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"IxJ8gaf@V.5xrl3X3yu0\"><field name=\"NUM\">-1</field></block></value><value name=\"STEPS_LEFT\"><block type=\"math_number\" id=\"1hpVYp0#go4@HCi%[MZ`\"><field name=\"NUM\">1550</field></block></value><value name=\"STEPS_RIGHT\"><block type=\"math_number\" id=\"ZuV9iU47evPA,S7J?s+@\"><field name=\"NUM\">2000</field></block></value></block></statement><statement name=\"ELSE\"><block type=\"controls_if\" id=\"]Xst$#BXb%U~.5?C5fN1\"><value name=\"IF0\"><block type=\"logic_compare\" id=\"PD.BkyibEtTX2,VtMdsc\"><field name=\"OP\">GTE</field><value name=\"A\"><block type=\"variables_get\" id=\"UWRm7PH[oi_n9oQsRDGd\"><field name=\"VAR\" id=\"44C`F*i%?EbRAm0f[}XQ\" variabletype=\"\">line_x_1</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"V1b;v7$b+m#/u;2dm6H$\"><field name=\"NUM\">0</field></block></value></block></value><statement name=\"DO0\"><block type=\"controls_if\" id=\",?`$EcLs;XYj{O%B$A~o\"><mutation elseif=\"1\" else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"0WmrG/knZBBpiHSDmLBJ\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"variables_get\" id=\"%amYL^tWO^t8nX`JBAEF\"><field name=\"VAR\" id=\"44C`F*i%?EbRAm0f[}XQ\" variabletype=\"\">line_x_1</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"hIduK@,Vwz{H?bp[WPjj\"><field name=\"NUM\">60</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_motor\" id=\";vD-YiW9)qU8sg-}vcm1\"><value name=\"SPEED_LEFT\"><block type=\"math_number\" id=\"((}~wa#@9K8b}RS#DSq?\"><field name=\"NUM\">40</field></block></value><value name=\"SPEED_RIGHT\"><block type=\"math_number\" id=\":,f0J=^9v|J$I;5Ahy|K\"><field name=\"NUM\">-40</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"L48OY[hxw|)quL7-vkb^\"><field name=\"NUM\">-1</field></block></value><value name=\"STEPS_LEFT\"><block type=\"math_arithmetic\" id=\"Upl0F:r{a0y5cdS.crj)\"><field name=\"OP\">MINUS</field><value name=\"A\"><block type=\"variables_get\" id=\"oS=EnUt$f^C5Vj!8|9C8\"><field name=\"VAR\" id=\"44C`F*i%?EbRAm0f[}XQ\" variabletype=\"\">line_x_1</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"7~z_5vl91w!1jP(k.(Qd\"><field name=\"NUM\">50</field></block></value></block></value><value name=\"STEPS_RIGHT\"><block type=\"math_arithmetic\" id=\"A~(#(]O_(kSZBIc4,yw@\"><field name=\"OP\">MINUS</field><value name=\"A\"><block type=\"variables_get\" id=\"Vuwafvcd/K_ph5^FX:%!\"><field name=\"VAR\" id=\"44C`F*i%?EbRAm0f[}XQ\" variabletype=\"\">line_x_1</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"x$bmhmC2RW9ZOLL7FWHF\"><field name=\"NUM\">50</field></block></value></block></value></block></statement><value name=\"IF1\"><block type=\"logic_compare\" id=\"I)Gu5YQYkX.:()}l^{xg\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"variables_get\" id=\"zCKv1.|-Rios8@h5ilIg\"><field name=\"VAR\" id=\"44C`F*i%?EbRAm0f[}XQ\" variabletype=\"\">line_x_1</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"vJw^%jvK#eR95btK#CeU\"><field name=\"NUM\">40</field></block></value></block></value><statement name=\"DO1\"><block type=\"coderbot_adv_motor\" id=\"w(zj/fW0HsEnX1*u!4O?\"><value name=\"SPEED_LEFT\"><block type=\"math_number\" id=\"y+F~@jqeyB9bS]M=9}J}\"><field name=\"NUM\">-40</field></block></value><value name=\"SPEED_RIGHT\"><block type=\"math_number\" id=\"1/(])B%ubDAdndUnXxg-\"><field name=\"NUM\">40</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"{?IB?(nV;5%Nm_F$1rMX\"><field name=\"NUM\">-1</field></block></value><value name=\"STEPS_LEFT\"><block type=\"math_arithmetic\" id=\";dV0cDAx~my3rojA^G|4\"><field name=\"OP\">MINUS</field><value name=\"A\"><block type=\"math_number\" id=\"o/=rp-ECY@EVjB8FV/0~\"><field name=\"NUM\">50</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"W;jmAc*0%%;8cx.}*jQL\"><field name=\"VAR\" id=\"44C`F*i%?EbRAm0f[}XQ\" variabletype=\"\">line_x_1</field></block></value></block></value><value name=\"STEPS_RIGHT\"><block type=\"math_arithmetic\" id=\"hYIe9z|NuF;9Um0Fk)mu\"><field name=\"OP\">MINUS</field><value name=\"A\"><block type=\"math_number\" id=\"b-Ei9$@yv*bVNNAauA+o\"><field name=\"NUM\">50</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"c?]Gby*%LO[jc{jaa%-9\"><field name=\"VAR\" id=\"44C`F*i%?EbRAm0f[}XQ\" variabletype=\"\">line_x_1</field></block></value></block></value></block></statement><statement name=\"ELSE\"><block type=\"coderbot_adv_motor\" id=\"O.;G[S8aWfdf|`/h*59@\"><value name=\"SPEED_LEFT\"><block type=\"math_number\" id=\"I6+d!/%ONX{B=e8{n0kx\"><field name=\"NUM\">50</field></block></value><value name=\"SPEED_RIGHT\"><block type=\"math_number\" id=\"C*9^tnhIr1`.e{Ts56$Z\"><field name=\"NUM\">50</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"(0,tpOtURC`/@~c2LSVs\"><field name=\"NUM\">-1</field></block></value><value name=\"STEPS_LEFT\"><block type=\"math_number\" id=\"Ka-C|%Y8;GO(qa1sH:XG\"><field name=\"NUM\">150</field></block></value><value name=\"STEPS_RIGHT\"><block type=\"math_number\" id=\"xLy*EHb!}4NrV0`Z-_yZ\"><field name=\"NUM\">150</field></block></value></block></statement></block></statement></block></statement></block></next></block></next></block></next></block></next></block></next></block></statement></block></xml>", "code": "line_x_1 = None\nlista = None\nline_x_list = None\nline_x_2 = None\nar_code = None\nar_code_list = None\n\n\nwhile True:\n get_prog_eng().check_end()\n line_x_list = get_cam().find_line()\n line_x_1 = line_x_list[0]\n ar_code_list = get_cam().find_ar_code().get('codes')\n if not not len(ar_code_list):\n ar_code = ar_code_list[0]\n else:\n ar_code = 0\n get_cam().set_text(ar_code)\n if ar_code == 1:\n get_bot().motor_control(speed_left=80, speed_right=80, elapse=-1, steps_left=1000, steps_right=1000)\n elif ar_code == 2:\n get_bot().motor_control(speed_left=60, speed_right=60, elapse=-1, steps_left=2000, steps_right=1550)\n elif ar_code == 6:\n get_bot().motor_control(speed_left=60, speed_right=60, elapse=-1, steps_left=1550, steps_right=2000)\n else:\n if line_x_1 >= 0:\n if line_x_1 > 60:\n get_bot().motor_control(speed_left=40, speed_right=-40, elapse=-1, steps_left=line_x_1 - 50, steps_right=line_x_1 - 50)\n elif line_x_1 < 40:\n get_bot().motor_control(speed_left=-40, speed_right=40, elapse=-1, steps_left=50 - line_x_1, steps_right=50 - line_x_1)\n else:\n get_bot().motor_control(speed_left=50, speed_right=50, elapse=-1, steps_left=150, steps_right=150)\n", "name": "demo_line_follower"}
\ No newline at end of file
+{"id": "f893bc1c-9d22-4bbb-ac3c-05637c49d307", "dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><variables><variable type=\"\" id=\"44C`F*i%?EbRAm0f[}XQ\">line_x_1</variable><variable type=\"\" id=\"BShIh7Dye|p!AtQ`p8wj\">lista</variable><variable type=\"\" id=\"(`T?t~cnldIn9}cU!6P3\">line_x_list</variable><variable type=\"\" id=\"+9O~W5dFyMgb4R9?j?2j\">line_x_2</variable><variable type=\"\" id=\"G;b/=HFbfhuxT|0?~S[r\">ar_code</variable><variable type=\"\" id=\"kOrv]Wo^Y7{4+#7gA`K;\">ar_code_list</variable></variables><block type=\"controls_whileUntil\" id=\"`]WZt9m4:b-6v?sR0a{6\" x=\"9\" y=\"103\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"?g7Pi#[#{_)~?7~!MUL]\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\" id=\"n/Jg4jt-?ANdJFh!U#R}\"><field name=\"VAR\" id=\"(`T?t~cnldIn9}cU!6P3\" variabletype=\"\">line_x_list</field><value name=\"VALUE\"><block type=\"coderbot_adv_findLine\" id=\"|O16NyeI_GMcWz}e#ht9\"></block></value><next><block type=\"variables_set\" id=\"d:T;q-q)7$dJ(@9w7DF=\"><field name=\"VAR\" id=\"44C`F*i%?EbRAm0f[}XQ\" variabletype=\"\">line_x_1</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\"oA1x#4CMYuz}p|KK8e~S\"><mutation statement=\"false\" at=\"false\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FIRST</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"CIJd6?@63y$}V34}.bC-\"><field name=\"VAR\" id=\"(`T?t~cnldIn9}cU!6P3\" variabletype=\"\">line_x_list</field></block></value></block></value><next><block type=\"variables_set\" id=\"S2ieOivJB5(|7?}~us@M\"><field name=\"VAR\" id=\"kOrv]Wo^Y7{4+#7gA`K;\" variabletype=\"\">ar_code_list</field><value name=\"VALUE\"><block type=\"hashmap_get_value\" id=\"tgJS~3PX=0SJTSMlsaVv\"><value name=\"key\"><block type=\"text\" id=\"Wz#h:CVLwyX,^(^kc{B`\"><field name=\"TEXT\">codes</field></block></value><value name=\"map\"><block type=\"coderbot_adv_findARCode\" id=\"9$MM{KjS8lUj}A;=Pr(z\"></block></value></block></value><next><block type=\"controls_if\" id=\"IL@9S#Xl-hRa#LwNvh.g\"><mutation else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_negate\" id=\"XQTF1;SNhjc#]4#_}9wU\"><value name=\"BOOL\"><block type=\"lists_isEmpty\" id=\"b^36mV09/]tRws|?BYoK\"><value name=\"VALUE\"><block type=\"variables_get\" id=\";qp!b+zbymPr{3WAvNrG\"><field name=\"VAR\" id=\"kOrv]Wo^Y7{4+#7gA`K;\" variabletype=\"\">ar_code_list</field></block></value></block></value></block></value><statement name=\"DO0\"><block type=\"variables_set\" id=\"uv4pqKisw(|c:|d/Do%J\"><field name=\"VAR\" id=\"G;b/=HFbfhuxT|0?~S[r\" variabletype=\"\">ar_code</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\"a0JACY?SyTgO21=or@D6\"><mutation statement=\"false\" at=\"false\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FIRST</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"ySld:`sc3M4=IjeN*RuO\"><field name=\"VAR\" id=\"kOrv]Wo^Y7{4+#7gA`K;\" variabletype=\"\">ar_code_list</field></block></value></block></value></block></statement><statement name=\"ELSE\"><block type=\"variables_set\" id=\"/f{XE@50=WxbI;,=TeW]\"><field name=\"VAR\" id=\"G;b/=HFbfhuxT|0?~S[r\" variabletype=\"\">ar_code</field><value name=\"VALUE\"><block type=\"math_number\" id=\"@XV^(en_.lQ0_#rZkz}#\"><field name=\"NUM\">0</field></block></value></block></statement><next><block type=\"text_print\" id=\"{f1ctd/iW#D,le1V(Cy-\"><value name=\"TEXT\"><block type=\"variables_get\" id=\"5VI:=npMdg$L|=e0/Okn\"><field name=\"VAR\" id=\"G;b/=HFbfhuxT|0?~S[r\" variabletype=\"\">ar_code</field></block></value><next><block type=\"controls_if\" id=\"GvDQg$7WT=Qq6HBCexdf\"><mutation elseif=\"2\" else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\")M6ls=nOUTB^J;|3-Q@=\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"Y9PB[dJ*r*.*=2([@JT:\"><field name=\"VAR\" id=\"G;b/=HFbfhuxT|0?~S[r\" variabletype=\"\">ar_code</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"e`kkA/p8dDJT4Iu`PtP|\"><field name=\"NUM\">1</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_motor\" id=\"mM!-gOyoBb8xLuEK}:PY\"><value name=\"SPEED_LEFT\"><block type=\"math_number\" id=\"MV9CvsB9cK7#oJv5M+Gy\"><field name=\"NUM\">80</field></block></value><value name=\"SPEED_RIGHT\"><block type=\"math_number\" id=\"@I!w63)Db*b!^mzk?7b-\"><field name=\"NUM\">80</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"xz=GX~R6!L1Lz?RO%xSE\"><field name=\"NUM\">-1</field></block></value><value name=\"STEPS_LEFT\"><block type=\"math_number\" id=\"nSLX(4#c?i({f6gx}h$b\"><field name=\"NUM\">1000</field></block></value><value name=\"STEPS_RIGHT\"><block type=\"math_number\" id=\"3C{Tr^vc`K1K7@whf0+#\"><field name=\"NUM\">1000</field></block></value></block></statement><value name=\"IF1\"><block type=\"logic_compare\" id=\"0[pEKb#+c1ukccsj-HGU\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"!.x!ti5!Jl_Qyi_98vP:\"><field name=\"VAR\" id=\"G;b/=HFbfhuxT|0?~S[r\" variabletype=\"\">ar_code</field></block></value><value name=\"B\"><block type=\"math_number\" id=\":Omnr1TfVKRT,{x+CErC\"><field name=\"NUM\">2</field></block></value></block></value><statement name=\"DO1\"><block type=\"coderbot_adv_motor\" id=\"^@Y|H7}/,1f%m;D)rsqN\"><value name=\"SPEED_LEFT\"><block type=\"math_number\" id=\"tpQfUU_t1N9uX9DDLpNK\"><field name=\"NUM\">60</field></block></value><value name=\"SPEED_RIGHT\"><block type=\"math_number\" id=\"X__|/-/MQqilOsxKk.Vn\"><field name=\"NUM\">60</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"sUK%h7;p?NFy6ej0G@ad\"><field name=\"NUM\">-1</field></block></value><value name=\"STEPS_LEFT\"><block type=\"math_number\" id=\"55Q_(wsMzLOOTn,AJ*=o\"><field name=\"NUM\">2000</field></block></value><value name=\"STEPS_RIGHT\"><block type=\"math_number\" id=\"Q(U)4jCVk5tml,K%_m3X\"><field name=\"NUM\">1550</field></block></value></block></statement><value name=\"IF2\"><block type=\"logic_compare\" id=\"-.]jhYzu{)[`q?J|G*@i\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"TYK1ggBo;v^8(fzNK!PO\"><field name=\"VAR\" id=\"G;b/=HFbfhuxT|0?~S[r\" variabletype=\"\">ar_code</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"D2;EP}Ok0vx,}R7Te.[g\"><field name=\"NUM\">6</field></block></value></block></value><statement name=\"DO2\"><block type=\"coderbot_adv_motor\" id=\"FWt]Cn.Gx+x%y|4TMq*/\"><value name=\"SPEED_LEFT\"><block type=\"math_number\" id=\"PN3gP4:wymcc7g[G,=JC\"><field name=\"NUM\">60</field></block></value><value name=\"SPEED_RIGHT\"><block type=\"math_number\" id=\"$svZ(tsG{Q]%-=QakU@7\"><field name=\"NUM\">60</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"IxJ8gaf@V.5xrl3X3yu0\"><field name=\"NUM\">-1</field></block></value><value name=\"STEPS_LEFT\"><block type=\"math_number\" id=\"1hpVYp0#go4@HCi%[MZ`\"><field name=\"NUM\">1550</field></block></value><value name=\"STEPS_RIGHT\"><block type=\"math_number\" id=\"ZuV9iU47evPA,S7J?s+@\"><field name=\"NUM\">2000</field></block></value></block></statement><statement name=\"ELSE\"><block type=\"controls_if\" id=\"]Xst$#BXb%U~.5?C5fN1\"><value name=\"IF0\"><block type=\"logic_compare\" id=\"PD.BkyibEtTX2,VtMdsc\"><field name=\"OP\">GTE</field><value name=\"A\"><block type=\"variables_get\" id=\"UWRm7PH[oi_n9oQsRDGd\"><field name=\"VAR\" id=\"44C`F*i%?EbRAm0f[}XQ\" variabletype=\"\">line_x_1</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"V1b;v7$b+m#/u;2dm6H$\"><field name=\"NUM\">0</field></block></value></block></value><statement name=\"DO0\"><block type=\"controls_if\" id=\",?`$EcLs;XYj{O%B$A~o\"><mutation elseif=\"1\" else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"0WmrG/knZBBpiHSDmLBJ\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"variables_get\" id=\"%amYL^tWO^t8nX`JBAEF\"><field name=\"VAR\" id=\"44C`F*i%?EbRAm0f[}XQ\" variabletype=\"\">line_x_1</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"hIduK@,Vwz{H?bp[WPjj\"><field name=\"NUM\">60</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_motor\" id=\";vD-YiW9)qU8sg-}vcm1\"><value name=\"SPEED_LEFT\"><block type=\"math_number\" id=\"((}~wa#@9K8b}RS#DSq?\"><field name=\"NUM\">40</field></block></value><value name=\"SPEED_RIGHT\"><block type=\"math_number\" id=\":,f0J=^9v|J$I;5Ahy|K\"><field name=\"NUM\">-40</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"L48OY[hxw|)quL7-vkb^\"><field name=\"NUM\">-1</field></block></value><value name=\"STEPS_LEFT\"><block type=\"math_arithmetic\" id=\"Upl0F:r{a0y5cdS.crj)\"><field name=\"OP\">MINUS</field><value name=\"A\"><block type=\"variables_get\" id=\"oS=EnUt$f^C5Vj!8|9C8\"><field name=\"VAR\" id=\"44C`F*i%?EbRAm0f[}XQ\" variabletype=\"\">line_x_1</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"7~z_5vl91w!1jP(k.(Qd\"><field name=\"NUM\">50</field></block></value></block></value><value name=\"STEPS_RIGHT\"><block type=\"math_arithmetic\" id=\"A~(#(]O_(kSZBIc4,yw@\"><field name=\"OP\">MINUS</field><value name=\"A\"><block type=\"variables_get\" id=\"Vuwafvcd/K_ph5^FX:%!\"><field name=\"VAR\" id=\"44C`F*i%?EbRAm0f[}XQ\" variabletype=\"\">line_x_1</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"x$bmhmC2RW9ZOLL7FWHF\"><field name=\"NUM\">50</field></block></value></block></value></block></statement><value name=\"IF1\"><block type=\"logic_compare\" id=\"I)Gu5YQYkX.:()}l^{xg\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"variables_get\" id=\"zCKv1.|-Rios8@h5ilIg\"><field name=\"VAR\" id=\"44C`F*i%?EbRAm0f[}XQ\" variabletype=\"\">line_x_1</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"vJw^%jvK#eR95btK#CeU\"><field name=\"NUM\">40</field></block></value></block></value><statement name=\"DO1\"><block type=\"coderbot_adv_motor\" id=\"w(zj/fW0HsEnX1*u!4O?\"><value name=\"SPEED_LEFT\"><block type=\"math_number\" id=\"y+F~@jqeyB9bS]M=9}J}\"><field name=\"NUM\">-40</field></block></value><value name=\"SPEED_RIGHT\"><block type=\"math_number\" id=\"1/(])B%ubDAdndUnXxg-\"><field name=\"NUM\">40</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"{?IB?(nV;5%Nm_F$1rMX\"><field name=\"NUM\">-1</field></block></value><value name=\"STEPS_LEFT\"><block type=\"math_arithmetic\" id=\";dV0cDAx~my3rojA^G|4\"><field name=\"OP\">MINUS</field><value name=\"A\"><block type=\"math_number\" id=\"o/=rp-ECY@EVjB8FV/0~\"><field name=\"NUM\">50</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"W;jmAc*0%%;8cx.}*jQL\"><field name=\"VAR\" id=\"44C`F*i%?EbRAm0f[}XQ\" variabletype=\"\">line_x_1</field></block></value></block></value><value name=\"STEPS_RIGHT\"><block type=\"math_arithmetic\" id=\"hYIe9z|NuF;9Um0Fk)mu\"><field name=\"OP\">MINUS</field><value name=\"A\"><block type=\"math_number\" id=\"b-Ei9$@yv*bVNNAauA+o\"><field name=\"NUM\">50</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"c?]Gby*%LO[jc{jaa%-9\"><field name=\"VAR\" id=\"44C`F*i%?EbRAm0f[}XQ\" variabletype=\"\">line_x_1</field></block></value></block></value></block></statement><statement name=\"ELSE\"><block type=\"coderbot_adv_motor\" id=\"O.;G[S8aWfdf|`/h*59@\"><value name=\"SPEED_LEFT\"><block type=\"math_number\" id=\"I6+d!/%ONX{B=e8{n0kx\"><field name=\"NUM\">50</field></block></value><value name=\"SPEED_RIGHT\"><block type=\"math_number\" id=\"C*9^tnhIr1`.e{Ts56$Z\"><field name=\"NUM\">50</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"(0,tpOtURC`/@~c2LSVs\"><field name=\"NUM\">-1</field></block></value><value name=\"STEPS_LEFT\"><block type=\"math_number\" id=\"Ka-C|%Y8;GO(qa1sH:XG\"><field name=\"NUM\">150</field></block></value><value name=\"STEPS_RIGHT\"><block type=\"math_number\" id=\"xLy*EHb!}4NrV0`Z-_yZ\"><field name=\"NUM\">150</field></block></value></block></statement></block></statement></block></statement></block></next></block></next></block></next></block></next></block></next></block></statement></block></xml>", "code": "line_x_1 = None\nlista = None\nline_x_list = None\nline_x_2 = None\nar_code = None\nar_code_list = None\n\n\nwhile True:\n get_prog_eng().check_end()\n line_x_list = get_cam().find_line()\n line_x_1 = line_x_list[0]\n ar_code_list = get_cam().find_ar_code().get('codes')\n if not not len(ar_code_list):\n ar_code = ar_code_list[0]\n else:\n ar_code = 0\n get_cam().set_text(ar_code)\n if ar_code == 1:\n get_bot().motor_control(speed_left=80, speed_right=80, elapse=-1, steps_left=1000, steps_right=1000)\n elif ar_code == 2:\n get_bot().motor_control(speed_left=60, speed_right=60, elapse=-1, steps_left=2000, steps_right=1550)\n elif ar_code == 6:\n get_bot().motor_control(speed_left=60, speed_right=60, elapse=-1, steps_left=1550, steps_right=2000)\n else:\n if line_x_1 >= 0:\n if line_x_1 > 60:\n get_bot().motor_control(speed_left=40, speed_right=-40, elapse=-1, steps_left=line_x_1 - 50, steps_right=line_x_1 - 50)\n elif line_x_1 < 40:\n get_bot().motor_control(speed_left=-40, speed_right=40, elapse=-1, steps_left=50 - line_x_1, steps_right=50 - line_x_1)\n else:\n get_bot().motor_control(speed_left=50, speed_right=50, elapse=-1, steps_left=150, steps_right=150)\n", "name": "demo_line_follower"}
\ No newline at end of file
diff --git a/defaults/programs/program_demo_obstacle_avoidance.json b/defaults/programs/program_demo_obstacle_avoidance.json
index ab3e4a8e..899ffe38 100644
--- a/defaults/programs/program_demo_obstacle_avoidance.json
+++ b/defaults/programs/program_demo_obstacle_avoidance.json
@@ -1 +1 @@
-{"name": "demo_obstacle_avoidance", "code": "while True:\n get_prog_eng().check_end()\n if get_bot().get_sonar_distance(0) < 15:\n get_bot().right(speed=100, elapse=0.5)\n else:\n get_bot().forward(speed=100, elapse=1)\n", "dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><variables></variables><block type=\"controls_whileUntil\" id=\"-yfR%N=ZA:dr/vf[$_Y+\" x=\"9\" y=\"103\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"H@,=TqL*XM3|6M}Z:3+C\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"controls_if\" id=\"D~6eYo_:!JGW/LOSHdG-\"><mutation else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"Otlt5#y}Bm[e5ta5;YxY\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"coderbot_sonar_get_distance\" id=\"ssLQq~!Drc._YB6B-d3S\"><field name=\"SONAR\">0</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"eH-VJ17iCGoZyj+UEq:}\"><field name=\"NUM\">15</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\" id=\"trpdU@xT,u;^uH#kGc;f\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_number\" id=\"LNg%=nl9p;4Ib`yn]hP8\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"iS!-;G+snS)ML@1l1*P%\"><field name=\"NUM\">0.5</field></block></value></block></statement><statement name=\"ELSE\"><block type=\"coderbot_adv_move\" id=\"VxFs%Ie:uau;?%8H_;b{\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_number\" id=\"~,ygpvFtKIs_R${W*q8e\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"Hs$baRlg*_rwO(m,0?yU\"><field name=\"NUM\">1</field></block></value></block></statement></block></statement></block></xml>"}
\ No newline at end of file
+{"id": "0cfd0dd1-7ec3-4f34-9720-41f42b0209e1", "name": "demo_obstacle_avoidance", "code": "while True:\n get_prog_eng().check_end()\n if get_bot().get_sonar_distance(0) < 15:\n get_bot().right(speed=100, elapse=0.5)\n else:\n get_bot().forward(speed=100, elapse=1)\n", "dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><variables></variables><block type=\"controls_whileUntil\" id=\"-yfR%N=ZA:dr/vf[$_Y+\" x=\"9\" y=\"103\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"H@,=TqL*XM3|6M}Z:3+C\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"controls_if\" id=\"D~6eYo_:!JGW/LOSHdG-\"><mutation else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"Otlt5#y}Bm[e5ta5;YxY\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"coderbot_sonar_get_distance\" id=\"ssLQq~!Drc._YB6B-d3S\"><field name=\"SONAR\">0</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"eH-VJ17iCGoZyj+UEq:}\"><field name=\"NUM\">15</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\" id=\"trpdU@xT,u;^uH#kGc;f\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_number\" id=\"LNg%=nl9p;4Ib`yn]hP8\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"iS!-;G+snS)ML@1l1*P%\"><field name=\"NUM\">0.5</field></block></value></block></statement><statement name=\"ELSE\"><block type=\"coderbot_adv_move\" id=\"VxFs%Ie:uau;?%8H_;b{\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_number\" id=\"~,ygpvFtKIs_R${W*q8e\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"Hs$baRlg*_rwO(m,0?yU\"><field name=\"NUM\">1</field></block></value></block></statement></block></statement></block></xml>"}
\ No newline at end of file
diff --git a/defaults/programs/program_demo_roboetologist.json b/defaults/programs/program_demo_roboetologist.json
index 71f717b8..1a50d542 100644
--- a/defaults/programs/program_demo_roboetologist.json
+++ b/defaults/programs/program_demo_roboetologist.json
@@ -1 +1 @@
-{"name":"demo_roboetologist","dom_code":"<xml xmlns=\"https://developers.google.com/blockly/xml\"><variables><variable id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</variable><variable id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</variable><variable id=\"8|Zzym8yh{-PoN!=cEIq\">var_marciaIndietro</variable><variable id=\"k0;Q7iBn,I9wGXMH?}Do\">var_giravolte</variable><variable id=\"]o~;Yi%sgc~I2zpMw@#p\">var_ritirata</variable><variable id=\"}Amjkrp!.(7[D41[a^{6\">velocita</variable><variable id=\";M|:6*RIcl{fLp+^(S~p\">stanco</variable></variables><block type=\"procedures_defnoreturn\" id=\"!]5:R,96H,d*lP5TdKtv\" x=\"32\" y=\"-248\"><field name=\"NAME\">Scodinzola</field><comment pinned=\"false\" h=\"80\" w=\"160\">Descrivi questa funzione...</comment><statement name=\"STACK\"><block type=\"controls_repeat_ext\" id=\"$@148i!0XDrE)=/74E,F\"><value name=\"TIMES\"><block type=\"math_number\" id=\"Z|tRJT3et)`/%nF;x|BX\"><field name=\"NUM\">3</field></block></value><statement name=\"DO\"><block type=\"coderbot_adv_move\" id=\"ICVMx1}4##d{B2;1_0yw\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"YOER#;}9h-EjO#NWK$-r\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"c)2=ZX:s9Pu=6_!gAznZ\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"OkO@z~w=AGqzQZu357hr\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"`1Tkh_x5G03,$gK8[7`W\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"6k^]W@IDw;E{I)B2[vF[\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"r3grvcve;,ycs9O{$Z(`\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"KIT-F0Ks@@7mYljTMX}a\"><field name=\"NUM\">0.3</field></block></value><next><block type=\"coderbot_sleep\" id=\"8HSK*.y3si%z:5X:X}Cf\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"_JMB)UTj(N=+rh}WJ1gM\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"I!%c5zbo7`I8H8pPUGmi\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value><next><block type=\"coderbot_adv_move\" id=\"=G4VJm2R._wOHz%QTKGH\"><field name=\"ACTION\">LEFT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"sE)S[)9b8GYNM/}A?Q?a\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"th7m{buvj!fXr2[L}rdj\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"tD5onaW9m}8|$[!eMBlT\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"UI8*HDp}`l@z/mNCX#%h\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"?;j;(@*sHEBLK;FT9Snq\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"xm4O$9/uD/DtLEFUuc:H\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"C.gRCR/O:%1W,h%jxJQz\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"P@A2tlSC:EM}cZ{1qJOm\"><field name=\"NUM\">0.5</field></block></value><next><block type=\"coderbot_sleep\" id=\"4^Vbi3$0bgFj([_q#a)!\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"gfVNt(aQi}BuKUSFJ.3:\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"s@*_u8JqM`F^;vK{O*_0\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value><next><block type=\"coderbot_adv_move\" id=\"obZReNmla70EZtJwNI$8\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"IEU%gc|cb25NDN1pDPM*\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"{*bj!1W#x3tx!SeWj:kT\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"DaVdvC(WkUw{D:y*?4F6\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\".$SS=6=p56*%bV+0d!UP\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"~~F31]H,M#iZIBu-hpHt\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"S6tUIN@%q%t{Hz2ddE-{\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\".dOMH{.fxW#:}@%b#)JX\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"ZGo9-9/V=n8K.l-Ukk@h\"><field name=\"NUM\">0.3</field></block></value><next><block type=\"coderbot_sleep\" id=\"NK1usFSpUZ,JP33u=3#d\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"?f-Y1{[eyW,FRqS=Wjo$\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"]yMj3IsqdH!-7(8Cvk[U\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value></block></next></block></next></block></next></block></next></block></next></block></statement></block></statement></block><block type=\"procedures_defnoreturn\" id=\"eAhV_z+X]idI9Y2#)$n(\" x=\"1037\" y=\"-296\"><field name=\"NAME\">Evita_Ostacoli</field><comment pinned=\"false\" h=\"80\" w=\"160\">Descrivi questa funzione...</comment><statement name=\"STACK\"><block type=\"controls_repeat_ext\" id=\"@c#NwB$D7537*F7m=!(7\"><value name=\"TIMES\"><shadow type=\"math_number\" id=\"YMSS!*wG*F@i;BhUmTE`\"><field name=\"NUM\">15</field></shadow></value><statement name=\"DO\"><block type=\"controls_if\" id=\"X*#hoa)#P0K0YxbKTgIs\"><mutation elseif=\"2\" else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"Otlt5#y}Bm[e5ta5;YxY\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"coderbot_sonar_get_distance\" id=\"ssLQq~!Drc._YB6B-d3S\"><field name=\"SONAR\">0</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"eH-VJ17iCGoZyj+UEq:}\"><field name=\"NUM\">20</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\" id=\"trpdU@xT,u;^uH#kGc;f\"><field name=\"ACTION\">BACKWARD</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"HcmX([S/=AKRH4R8$I0B\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"/rWP6rW9R]E3-naWqgJb\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\".t[s{j8IX2vxW-3BN:mY\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"Fb`JpvO.k6Tc7[f,$O$v\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"$l?U4w3[2%qk..:nTePo\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"8Ifz1evG3eDtpQLtQGl9\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"iS!-;G+snS)ML@1l1*P%\"><field name=\"NUM\">0.5</field></block></value><next><block type=\"coderbot_sleep\" id=\"/vCSdFhWoJq}Z~+GZv@B\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"x)rjS0}jg(awX7.?Vw6}\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"nkX`O8.7pQ/nRXu}}SJ=\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value><next><block type=\"coderbot_adv_move\" id=\"lzJKDW53E#N;!A;c=C@_\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"PA|Q|jw0.1~mrO$9Q%P;\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"G|iI)YzX$qKo3I+17OnJ\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"I.S?k*]?]8:ux2At*LJ1\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"CXKnQkB)^Mp8+FB%/Kq}\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"Xe+Rt?_8u.vO?W@ZWs2-\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"j4=;9]Ka!u+7?MAJPGh?\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"YTc?Tsq{XFq({Kc.X:l2\"><field name=\"NUM\">0.5</field></block></value><next><block type=\"coderbot_sleep\" id=\"~D0glLe($lFOxGCVt({`\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"k=7sJ/UX#,{!dlpX;H`6\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"6%wD3wHrc$f(?}Bq)28s\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value></block></next></block></next></block></next></block></statement><value name=\"IF1\"><block type=\"logic_compare\" id=\"i374]E^am-M6uyS?-gKC\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"coderbot_sonar_get_distance\" id=\"Xp?Z4ev2ys-O`aN-$WNL\"><field name=\"SONAR\">1</field></block></value><value name=\"B\"><block type=\"math_number\" id=\",2c5e_Y3:j:T[liXjo{l\"><field name=\"NUM\">20</field></block></value></block></value><statement name=\"DO1\"><block type=\"coderbot_adv_move\" id=\"Am`s@r3LgvQtrS1TL57q\"><field name=\"ACTION\">LEFT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"~prj;Zl(AJ|,`oeCCf-,\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"DcI1#yBE~@moiU6YAv#x\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"j`G2K]gZRIV)]2.7dzG9\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"]wDU`;H3W8![o1a2fzk1\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"3/hwsno_gvMwqLT_mgV!\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"/5eh,CVTRpqcb/s5{R5H\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"8t@}mCD~^YNfqoRxQJl%\"><field name=\"NUM\">0.5</field></block></value><next><block type=\"coderbot_sleep\" id=\"]/3=*vM9ken$o-O1f~fV\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"*SfrgoD6pBdYTZcV!|0b\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"WPe.SW;HHIq|eAB`,BJ`\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value></block></next></block></statement><value name=\"IF2\"><block type=\"logic_compare\" id=\"Oi)HJ7[XQLUo?9Ja,p{i\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"coderbot_sonar_get_distance\" id=\"VX/j*WrI[j^f/|ei-f:(\"><field name=\"SONAR\">2</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"J=/3jvhaq=%R42539s$D\"><field name=\"NUM\">20</field></block></value></block></value><statement name=\"DO2\"><block type=\"coderbot_adv_move\" id=\"Yw+`{06m}q=Xy[hpZc--\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"/^l1V(M*RdBL=xaqy1tq\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"m_d8qZ${$Q]1dgRC9kg1\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"P1aDE;avAT65i|PhY=-2\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"rv=.e$[u+4J|wpmE!WWc\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"=72b0Fu=xSqlre+0P==V\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\",=w/soAS//gtuY7.MR1L\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"HM%|wVB7+V~p-IL[*AR^\"><field name=\"NUM\">0.5</field></block></value><next><block type=\"coderbot_sleep\" id=\"yJFCwyQPE5=?0r/~vamL\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"5W!KOp9GS.b=}L5otZuU\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"^omY,%{F`GV!pDo}yZrv\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value></block></next></block></statement><statement name=\"ELSE\"><block type=\"coderbot_adv_move\" id=\":l(I1S51$*1Y1BPm^@/w\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"SHq.(.XcZ}7M,l8RC_c@\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"w7#zA8o]]XpeNtS=VD-:\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"J9Igw@@/VH.K__Yl)@~p\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"Uo@*[cy$0q1dgsf#Q^z-\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"tb~[WgJ9A+?zO!3y}p;U\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"`}JdE]gqQ@ZY1w]uW%5C\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"GHLs)siSUy|OQqqr3dIo\"><field name=\"NUM\">0.5</field></block></value><next><block type=\"coderbot_sleep\" id=\"LcaW`EM+]Jb=X?I[;JSB\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"`tVVItwfg.HfaD1gzB=:\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"aBw0-LWH!FA$beTy(Zhv\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value></block></next></block></statement></block></statement></block></statement></block><block type=\"variables_set\" id=\"i9a!EM@s`-6hUdv$sr@3\" x=\"-546\" y=\"-188\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field><value name=\"VALUE\"><block type=\"math_number\" id=\"^=8DhFn=]2Efwc(|OkiD\"><field name=\"NUM\">0.2</field></block></value><next><block type=\"variables_set\" id=\"zjzJg@NAQU,k/!!@n5,*\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field><value name=\"VALUE\"><block type=\"math_number\" id=\"nDs=tH{gKK+fBi0-bA/_\"><field name=\"NUM\">80</field></block></value><next><block type=\"variables_set\" id=\"uD3I^ll~9L#obOA^SI!0\"><field name=\"VAR\" id=\"8|Zzym8yh{-PoN!=cEIq\">var_marciaIndietro</field><value name=\"VALUE\"><block type=\"math_number\" id=\"~G:^Vj.oE0(OO]ZP3Vcn\"><field name=\"NUM\">0</field></block></value><next><block type=\"variables_set\" id=\"Obn8q0fElL9mB(i|1]5[\"><field name=\"VAR\" id=\"k0;Q7iBn,I9wGXMH?}Do\">var_giravolte</field><value name=\"VALUE\"><block type=\"math_number\" id=\"H!=muFCqUw/I?)IGAUt|\"><field name=\"NUM\">0</field></block></value><next><block type=\"variables_set\" id=\"I/mn7F@$p-}4[H4_SBqY\"><field name=\"VAR\" id=\"]o~;Yi%sgc~I2zpMw@#p\">var_ritirata</field><value name=\"VALUE\"><block type=\"math_number\" id=\"*azH8=DJtBx-pQwu4|V6\"><field name=\"NUM\">0</field></block></value><next><block type=\"variables_set\" id=\"tEC)Up7J)~4{(Dz1[lCj\"><field name=\"VAR\" id=\";M|:6*RIcl{fLp+^(S~p\">stanco</field><value name=\"VALUE\"><block type=\"math_number\" id=\"E%Tw$~W4?sv.fNIxv0Ma\"><field name=\"NUM\">0</field></block></value><next><block type=\"variables_set\" id=\"x4jFKBKS^fdsk#T.U7Z!\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field><value name=\"VALUE\"><block type=\"math_number\" id=\"6ZiB~3h3aO3z5)_kg[zG\"><field name=\"NUM\">1</field></block></value><next><block type=\"controls_whileUntil\" id=\"-yfR%N=ZA:dr/vf[$_Y+\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"H@,=TqL*XM3|6M}Z:3+C\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"math_change\" id=\"1%fq4KBED@gkjP~jlRMk\"><field name=\"VAR\" id=\";M|:6*RIcl{fLp+^(S~p\">stanco</field><value name=\"DELTA\"><block type=\"math_number\" id=\";S+Wfd9n5g26eOE9EngY\"><field name=\"NUM\">1</field></block></value><next><block type=\"math_change\" id=\"f-`F7YcK2uSF1[N^tPM{\"><field name=\"VAR\" id=\"8|Zzym8yh{-PoN!=cEIq\">var_marciaIndietro</field><value name=\"DELTA\"><shadow type=\"math_number\" id=\"{gD@*ayDq5d6tMw(2Kbc\"><field name=\"NUM\">1</field></shadow></value><next><block type=\"math_change\" id=\"dS?rG_[64b{_2vBnB^QM\"><field name=\"VAR\" id=\"k0;Q7iBn,I9wGXMH?}Do\">var_giravolte</field><value name=\"DELTA\"><shadow type=\"math_number\" id=\"dkbf0gA|c8o0Cm=!@gQT\"><field name=\"NUM\">1</field></shadow></value><next><block type=\"math_change\" id=\"`)S8h1qAw*?jy*ixY}u+\"><field name=\"VAR\" id=\"]o~;Yi%sgc~I2zpMw@#p\">var_ritirata</field><value name=\"DELTA\"><shadow type=\"math_number\" id=\"1L=-j:W;2d`s1`:q.su~\"><field name=\"NUM\">1</field></shadow></value><next><block type=\"controls_if\" id=\"S!3#D%1@0YM^;{sm}Q.k\"><mutation elseif=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"/dnfv--t9_A=(06arGX$\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"/}JP!cseKId$umH4~#!d\"><field name=\"VAR\" id=\";M|:6*RIcl{fLp+^(S~p\">stanco</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"9WL24mxLME}qFQWRype$\"><field name=\"NUM\">5</field></block></value></block></value><statement name=\"DO0\"><block type=\"variables_set\" id=\"~_/s2uIq9S6k56j~CVA#\"><field name=\"VAR\" id=\";M|:6*RIcl{fLp+^(S~p\">stanco</field><value name=\"VALUE\"><block type=\"math_number\" id=\"YjfWxc5Q+w#]Da0z;@@s\"><field name=\"NUM\">0</field></block></value><next><block type=\"variables_set\" id=\"@Z/po(O(J`O{*FUL?#%K\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field><value name=\"VALUE\"><block type=\"math_number\" id=\"jmeKZm8wIKG-As_[L%t4\"><field name=\"NUM\">1</field></block></value></block></next></block></statement><value name=\"IF1\"><block type=\"logic_compare\" id=\"E@jRA2fJ},Gr}awmmspH\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"variables_get\" id=\"|RNUw6)n!:kvhSz]2of^\"><field name=\"VAR\" id=\";M|:6*RIcl{fLp+^(S~p\">stanco</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"Q@W~I[!UTRLrFCi:+4D4\"><field name=\"NUM\">3</field></block></value></block></value><statement name=\"DO1\"><block type=\"variables_set\" id=\"TX2klHO#QS96(-b;oxdw\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field><value name=\"VALUE\"><block type=\"math_number\" id=\"}5,MJoA8{Gp/tD?@oBQq\"><field name=\"NUM\">0.5</field></block></value></block></statement><next><block type=\"procedures_callnoreturn\" id=\"k`=DiML{Ev{}a{|`u#r^\"><mutation name=\"Scodinzola\"></mutation><next><block type=\"procedures_callnoreturn\" id=\":ye0=GgRvJ|3|S7-:50(\"><mutation name=\"Evita_Ostacoli\"></mutation><next><block type=\"procedures_callnoreturn\" id=\"`QMv)mRAiqx$_MAPiJ#(\"><mutation name=\"Patugliamento\"></mutation><next><block type=\"controls_if\" id=\"BlK3e^r83~^p3h*QJQB(\"><value name=\"IF0\"><block type=\"logic_compare\" id=\"N`FCfoA4|6B]gmd@$Dno\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"9ryL2^n0LI=Njn!yDEHO\"><field name=\"VAR\" id=\"]o~;Yi%sgc~I2zpMw@#p\">var_ritirata</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"-FitrZK{v?e%Bl96c?t[\"><field name=\"NUM\">4</field></block></value></block></value><statement name=\"DO0\"><block type=\"variables_set\" id=\"oE:q?4%-V6J,QS}AjzFy\"><field name=\"VAR\" id=\"]o~;Yi%sgc~I2zpMw@#p\">var_ritirata</field><value name=\"VALUE\"><block type=\"math_number\" id=\"b775EElpGb*z4nrauX3b\"><field name=\"NUM\">0</field></block></value><next><block type=\"procedures_callnoreturn\" id=\"`hI(00uN;R!C0:4FyTci\"><mutation name=\"Ritirata_e_fuga\"></mutation></block></next></block></statement><next><block type=\"controls_if\" id=\"?p]@;Dl*R1%(/PQ!=dWJ\"><value name=\"IF0\"><block type=\"logic_compare\" id=\"@MV6{HWJdTLo1usYNV2W\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"G56lN%n(%*qfMbha3fjO\"><field name=\"VAR\" id=\"k0;Q7iBn,I9wGXMH?}Do\">var_giravolte</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"@]`ZuP~Ps,dfw9u7_/]~\"><field name=\"NUM\">8</field></block></value></block></value><statement name=\"DO0\"><block type=\"variables_set\" id=\")Q=MM=wJix8:e}3t!6p8\"><field name=\"VAR\" id=\"k0;Q7iBn,I9wGXMH?}Do\">var_giravolte</field><value name=\"VALUE\"><block type=\"math_number\" id=\"x7=CztX|VrM#X=PCQA2[\"><field name=\"NUM\">0</field></block></value><next><block type=\"procedures_callnoreturn\" id=\"DTy{!1~CoWr@ee?Sa;-@\"><mutation name=\"Giravolte\"></mutation></block></next></block></statement><next><block type=\"coderbot_sleep\" id=\"88T*(,r#Vj@:5zDE9tEO\"><value name=\"ELAPSE\"><block type=\"math_number\" id=\"42a6{m0y}CCt=]AHjj`6\"><field name=\"NUM\">5</field></block></value><next><block type=\"controls_if\" id=\"?5V^l6nIq)IysusCwzDR\"><value name=\"IF0\"><block type=\"logic_compare\" id=\",Fqr6N)B(p0}6{`5cj@!\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"pOVIS4*1q_5EkuSnmj5O\"><field name=\"VAR\" id=\"8|Zzym8yh{-PoN!=cEIq\">var_marciaIndietro</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"V_L}xISG;/(yv+LDAq?C\"><field name=\"NUM\">6</field></block></value></block></value><statement name=\"DO0\"><block type=\"variables_set\" id=\"!rUQPht{;fn5,B39fxcB\"><field name=\"VAR\" id=\"8|Zzym8yh{-PoN!=cEIq\">var_marciaIndietro</field><value name=\"VALUE\"><block type=\"math_number\" id=\"3KIWSuuWoCFaux|K`2GK\"><field name=\"NUM\">0</field></block></value><next><block type=\"procedures_callnoreturn\" id=\"=}BrOn/{1I*_k%*4~pC+\"><mutation name=\"MarciaIndietro_e_Scarto\"></mutation></block></next></block></statement></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></statement></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block><block type=\"procedures_defnoreturn\" id=\"Wph:,`b9y/Qr@m#qVKh8\" x=\"105\" y=\"236\"><field name=\"NAME\">Giravolte</field><comment pinned=\"false\" h=\"80\" w=\"160\">Descrivi questa funzione...</comment><statement name=\"STACK\"><block type=\"coderbot_adv_move\" id=\"){(:UQ%yk$)1o1Pguk9S\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"c5hzzlx2+eA%touCb]1`\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"lydvF$Ej,y;~N7Po7)o*\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"]9^qO6wW.}1C+h$MbiDE\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"|HP$c2sw0L^tzXq-fLy(\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"#wD6$fKI/W:^T0,9*{8.\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"i*Zleg*v;rpIcG.i7(J:\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"]EVJ2A)5rU){Yqlll0@p\"><field name=\"NUM\">2</field></block></value><next><block type=\"coderbot_sleep\" id=\"d.86;#zvChlP=wxiRYK{\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"wHB]k#o@Np$i#8^9apv!\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"Rde:F#~+L06azq2tVyD-\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value></block></next></block></statement></block><block type=\"procedures_defnoreturn\" id=\"#Lt]PDTBgL/]Mr,,RwFk\" x=\"31\" y=\"400\"><field name=\"NAME\">Patugliamento</field><comment pinned=\"false\" h=\"80\" w=\"160\">Descrivi questa funzione...</comment><statement name=\"STACK\"><block type=\"controls_repeat_ext\" id=\"zU:(eaKOX8bwg|@q)l/x\"><value name=\"TIMES\"><block type=\"math_number\" id=\"yzK?W9/:u/?TIb)n`E{l\"><field name=\"NUM\">3</field></block></value><statement name=\"DO\"><block type=\"coderbot_adv_move\" id=\"%k|)9QK~_+#YJ[i]f(^|\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"~_wpvFs,tj:4ZSU!6cmI\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"!qKX^lFR%49P+$0r%N;6\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"W0F$EFUx8!vMe|8,m`e)\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"8TVs2lFlm;#yzBe6_g9]\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"YHo$W[}K#~s[ir9kNv)_\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"u)Hj]9kY}4_a.DRL@rG?\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"y4w)^60I$wv3fB6T@Gbj\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_sleep\" id=\"5Bfgw2kcW($A8vSHtir.\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"*!VdE}A-vb2YZ-a^p06D\"><field name=\"NUM\">0.5</field></shadow></value></block></next></block></statement></block></statement></block><block type=\"procedures_defnoreturn\" id=\"k).IYZ!#sHk(8noL0i@l\" x=\"-93\" y=\"642\"><field name=\"NAME\">Ritirata_e_fuga</field><comment pinned=\"false\" h=\"80\" w=\"160\">Descrivi questa funzione...</comment><statement name=\"STACK\"><block type=\"coderbot_adv_move\" id=\"[~BG$Oi=L4ZH@MEvOEtV\"><field name=\"ACTION\">BACKWARD</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"?RuLhTzie::^EqgHxS)x\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"{o8]MWs*L7Xm(10NerE`\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"%F|VO,DV~}UHb:@|C2p-\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"c[;21(SABvfs)G)|4x^Z\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"Lb_3Nu2HTBW9gtaA8D+`\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"yst;fA`Z%rps/:1!a:v?\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"a_?(=WI*yG|Qw@p0#tcq\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_sleep\" id=\"Pp)@[psXrpWB%/nL5}Vc\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"rEx#9(2@Z%N`|DnWh+an\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"o7B~om;.tZrb6@p)?EKY\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value><next><block type=\"coderbot_adv_move\" id=\"PR|@J[;x$lCEM(4:.S(~\"><field name=\"ACTION\">LEFT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"f)~FYQvG=f/)C9n|kusd\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"^O.!+5/K#K!T#OZds3gz\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"v|f3Q5~D0I.k*to]}=vH\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"~egc|sz;b2=r#9h;O:F/\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"qRJL!80G9IL_?@PGQV$r\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"pfLThV)s=gML_k3{I5jV\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"]}Uj)tHeUYGo]lc^$yL+\"><field name=\"NUM\">3</field></block></value><next><block type=\"coderbot_sleep\" id=\"=%5988mlKNB(RjC0Ua^d\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"E~M696!a~}o-oXq1E]3x\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\":.J$pq2!m5|F4+^*qXiF\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value><next><block type=\"coderbot_adv_move\" id=\",5-k}T[BoGUuJt=#q8y/\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"Gw-[#MNK.kb(Pk+@oyR}\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"$:{Ytk.}NMv*^1k:*j+d\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"gMg4F/eD[6_*An+0N#1Y\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"IGeI6gf.7_tJ;uxoau+V\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"^yf:cE[2SnCjF6M7rKU~\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"mTnh,E_(RE`3L)j2;|s3\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"l+Ck2grV#HM3.7N!xIzk\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_sleep\" id=\"D|Zu+_W_#Hecykew]HjB\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"Y(D;RDGx-_?vUoP@{E|S\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"_J~jub1fQ$0.7h}aRX9#\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value></block></next></block></next></block></next></block></next></block></next></block></statement></block><block type=\"procedures_defnoreturn\" id=\"C2,|x88yVW6)$C|.Z[fn\" x=\"869\" y=\"650\"><field name=\"NAME\">MarciaIndietro_e_Scarto</field><comment pinned=\"false\" h=\"80\" w=\"160\">Descrivi questa funzione...</comment><statement name=\"STACK\"><block type=\"coderbot_adv_move\" id=\"io(!A$V*Tw58pI}^6_YY\"><field name=\"ACTION\">BACKWARD</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\":[u[8j)-^u#O^k`vIU9L\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"q2_I$}9a~5hZ4}@#`$^_\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"Y.`7b`52G9cmcxW?%3wl\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"hCC*}yGz5:h}h6dMwS!y\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"|m-nKgik@#(Y#zPfqU=,\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"`v-dkUixI3E=wr_G(!Ps\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"rRihLI!yF)H~N-qDFQz`\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_sleep\" id=\"f)]lI*iZwr2k$/-,OJ09\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"S#Y;lv?GQsDc7Za1uD^+\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"%~G.hJ0_bq{H8p(^LE-1\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value><next><block type=\"coderbot_adv_move\" id=\"n[LcL!+Xt9y6roV{2Z*[\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"QS=:BWqYG)%$)mU78~kQ\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"3||`T0aFosR5VFJaXS#I\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"LsMIWEV,WsfUY5KF]PVY\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"Q@KPVYLIp2/|i/R/4?EZ\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"XdKC2u$Zz`AzvrUT/3]z\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"wu#EubUV3Ic$jo)%{UzR\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"53`z:pDpu+~Sv3~`N-G~\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_sleep\" id=\"!rX}?uvL2bjbK+8xT_QY\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"/2aHV}CkHtI*dAV{sSM/\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"BOQ!ur6NR+#^~sk}YB)D\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value></block></next></block></next></block></next></block></statement></block></xml>","code":"from numbers import Number\n\nattesa = None\nvelocita_max = None\nvar_marciaIndietro = None\nvar_giravolte = None\nvar_ritirata = None\nvelocita = None\nstanco = None\n\n# Descrivi questa funzione...\ndef Scodinzola():\n global attesa, velocita_max, var_marciaIndietro, var_giravolte, var_ritirata, velocita, stanco\n get_prog_eng().check_end()\n for count in range(3):\n get_prog_eng().check_end()\n get_bot().right(speed=min(max(100 * velocita, 1), velocita_max), elapse=0.3)\n get_bot().sleep(attesa)\n get_bot().left(speed=min(max(100 * velocita, 1), velocita_max), elapse=0.5)\n get_bot().sleep(attesa)\n get_bot().right(speed=min(max(100 * velocita, 1), velocita_max), elapse=0.3)\n get_bot().sleep(attesa)\n\n# Descrivi questa funzione...\ndef Evita_Ostacoli():\n global attesa, velocita_max, var_marciaIndietro, var_giravolte, var_ritirata, velocita, stanco\n get_prog_eng().check_end()\n for count2 in range(15):\n get_prog_eng().check_end()\n if get_bot().get_sonar_distance(0) < 20:\n get_bot().backward(speed=min(max(100 * velocita, 1), velocita_max), elapse=0.5)\n get_bot().sleep(attesa)\n get_bot().right(speed=min(max(100 * velocita, 1), velocita_max), elapse=0.5)\n get_bot().sleep(attesa)\n elif get_bot().get_sonar_distance(1) < 20:\n get_bot().left(speed=min(max(100 * velocita, 1), velocita_max), elapse=0.5)\n get_bot().sleep(attesa)\n elif get_bot().get_sonar_distance(2) < 20:\n get_bot().right(speed=min(max(100 * velocita, 1), velocita_max), elapse=0.5)\n get_bot().sleep(attesa)\n else:\n get_bot().forward(speed=min(max(100 * velocita, 1), velocita_max), elapse=0.5)\n get_bot().sleep(attesa)\n\n# Descrivi questa funzione...\ndef Giravolte():\n global attesa, velocita_max, var_marciaIndietro, var_giravolte, var_ritirata, velocita, stanco\n get_prog_eng().check_end()\n get_bot().right(speed=min(max(100 * velocita, 1), velocita_max), elapse=2)\n get_bot().sleep(attesa)\n\n# Descrivi questa funzione...\ndef Patugliamento():\n global attesa, velocita_max, var_marciaIndietro, var_giravolte, var_ritirata, velocita, stanco\n get_prog_eng().check_end()\n for count3 in range(3):\n get_prog_eng().check_end()\n get_bot().right(speed=min(max(100 * velocita, 1), velocita_max), elapse=1)\n get_bot().sleep(0.5)\n\n# Descrivi questa funzione...\ndef Ritirata_e_fuga():\n global attesa, velocita_max, var_marciaIndietro, var_giravolte, var_ritirata, velocita, stanco\n get_prog_eng().check_end()\n get_bot().backward(speed=min(max(100 * velocita, 1), velocita_max), elapse=1)\n get_bot().sleep(attesa)\n get_bot().left(speed=min(max(100 * velocita, 1), velocita_max), elapse=3)\n get_bot().sleep(attesa)\n get_bot().forward(speed=min(max(100 * velocita, 1), velocita_max), elapse=1)\n get_bot().sleep(attesa)\n\n# Descrivi questa funzione...\ndef MarciaIndietro_e_Scarto():\n global attesa, velocita_max, var_marciaIndietro, var_giravolte, var_ritirata, velocita, stanco\n get_prog_eng().check_end()\n get_bot().backward(speed=min(max(100 * velocita, 1), velocita_max), elapse=1)\n get_bot().sleep(attesa)\n get_bot().right(speed=min(max(100 * velocita, 1), velocita_max), elapse=1)\n get_bot().sleep(attesa)\n\n\nattesa = 0.2\nvelocita_max = 80\nvar_marciaIndietro = 0\nvar_giravolte = 0\nvar_ritirata = 0\nstanco = 0\nvelocita = 1\nwhile True:\n get_prog_eng().check_end()\n stanco = (stanco if isinstance(stanco, Number) else 0) + 1\n var_marciaIndietro = (var_marciaIndietro if isinstance(var_marciaIndietro, Number) else 0) + 1\n var_giravolte = (var_giravolte if isinstance(var_giravolte, Number) else 0) + 1\n var_ritirata = (var_ritirata if isinstance(var_ritirata, Number) else 0) + 1\n if stanco == 5:\n stanco = 0\n velocita = 1\n elif stanco > 3:\n velocita = 0.5\n Scodinzola()\n Evita_Ostacoli()\n Patugliamento()\n if var_ritirata == 4:\n var_ritirata = 0\n Ritirata_e_fuga()\n if var_giravolte == 8:\n var_giravolte = 0\n Giravolte()\n get_bot().sleep(5)\n if var_marciaIndietro == 6:\n var_marciaIndietro = 0\n MarciaIndietro_e_Scarto()\n","default":""}
\ No newline at end of file
+{"id": "a3a01609-abb9-471b-b1fb-9cbb126d67c8", "name":"demo_roboetologist","dom_code":"<xml xmlns=\"https://developers.google.com/blockly/xml\"><variables><variable id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</variable><variable id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</variable><variable id=\"8|Zzym8yh{-PoN!=cEIq\">var_marciaIndietro</variable><variable id=\"k0;Q7iBn,I9wGXMH?}Do\">var_giravolte</variable><variable id=\"]o~;Yi%sgc~I2zpMw@#p\">var_ritirata</variable><variable id=\"}Amjkrp!.(7[D41[a^{6\">velocita</variable><variable id=\";M|:6*RIcl{fLp+^(S~p\">stanco</variable></variables><block type=\"procedures_defnoreturn\" id=\"!]5:R,96H,d*lP5TdKtv\" x=\"32\" y=\"-248\"><field name=\"NAME\">Scodinzola</field><comment pinned=\"false\" h=\"80\" w=\"160\">Descrivi questa funzione...</comment><statement name=\"STACK\"><block type=\"controls_repeat_ext\" id=\"$@148i!0XDrE)=/74E,F\"><value name=\"TIMES\"><block type=\"math_number\" id=\"Z|tRJT3et)`/%nF;x|BX\"><field name=\"NUM\">3</field></block></value><statement name=\"DO\"><block type=\"coderbot_adv_move\" id=\"ICVMx1}4##d{B2;1_0yw\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"YOER#;}9h-EjO#NWK$-r\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"c)2=ZX:s9Pu=6_!gAznZ\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"OkO@z~w=AGqzQZu357hr\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"`1Tkh_x5G03,$gK8[7`W\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"6k^]W@IDw;E{I)B2[vF[\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"r3grvcve;,ycs9O{$Z(`\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"KIT-F0Ks@@7mYljTMX}a\"><field name=\"NUM\">0.3</field></block></value><next><block type=\"coderbot_sleep\" id=\"8HSK*.y3si%z:5X:X}Cf\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"_JMB)UTj(N=+rh}WJ1gM\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"I!%c5zbo7`I8H8pPUGmi\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value><next><block type=\"coderbot_adv_move\" id=\"=G4VJm2R._wOHz%QTKGH\"><field name=\"ACTION\">LEFT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"sE)S[)9b8GYNM/}A?Q?a\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"th7m{buvj!fXr2[L}rdj\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"tD5onaW9m}8|$[!eMBlT\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"UI8*HDp}`l@z/mNCX#%h\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"?;j;(@*sHEBLK;FT9Snq\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"xm4O$9/uD/DtLEFUuc:H\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"C.gRCR/O:%1W,h%jxJQz\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"P@A2tlSC:EM}cZ{1qJOm\"><field name=\"NUM\">0.5</field></block></value><next><block type=\"coderbot_sleep\" id=\"4^Vbi3$0bgFj([_q#a)!\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"gfVNt(aQi}BuKUSFJ.3:\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"s@*_u8JqM`F^;vK{O*_0\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value><next><block type=\"coderbot_adv_move\" id=\"obZReNmla70EZtJwNI$8\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"IEU%gc|cb25NDN1pDPM*\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"{*bj!1W#x3tx!SeWj:kT\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"DaVdvC(WkUw{D:y*?4F6\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\".$SS=6=p56*%bV+0d!UP\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"~~F31]H,M#iZIBu-hpHt\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"S6tUIN@%q%t{Hz2ddE-{\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\".dOMH{.fxW#:}@%b#)JX\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"ZGo9-9/V=n8K.l-Ukk@h\"><field name=\"NUM\">0.3</field></block></value><next><block type=\"coderbot_sleep\" id=\"NK1usFSpUZ,JP33u=3#d\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"?f-Y1{[eyW,FRqS=Wjo$\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"]yMj3IsqdH!-7(8Cvk[U\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value></block></next></block></next></block></next></block></next></block></next></block></statement></block></statement></block><block type=\"procedures_defnoreturn\" id=\"eAhV_z+X]idI9Y2#)$n(\" x=\"1037\" y=\"-296\"><field name=\"NAME\">Evita_Ostacoli</field><comment pinned=\"false\" h=\"80\" w=\"160\">Descrivi questa funzione...</comment><statement name=\"STACK\"><block type=\"controls_repeat_ext\" id=\"@c#NwB$D7537*F7m=!(7\"><value name=\"TIMES\"><shadow type=\"math_number\" id=\"YMSS!*wG*F@i;BhUmTE`\"><field name=\"NUM\">15</field></shadow></value><statement name=\"DO\"><block type=\"controls_if\" id=\"X*#hoa)#P0K0YxbKTgIs\"><mutation elseif=\"2\" else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"Otlt5#y}Bm[e5ta5;YxY\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"coderbot_sonar_get_distance\" id=\"ssLQq~!Drc._YB6B-d3S\"><field name=\"SONAR\">0</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"eH-VJ17iCGoZyj+UEq:}\"><field name=\"NUM\">20</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\" id=\"trpdU@xT,u;^uH#kGc;f\"><field name=\"ACTION\">BACKWARD</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"HcmX([S/=AKRH4R8$I0B\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"/rWP6rW9R]E3-naWqgJb\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\".t[s{j8IX2vxW-3BN:mY\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"Fb`JpvO.k6Tc7[f,$O$v\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"$l?U4w3[2%qk..:nTePo\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"8Ifz1evG3eDtpQLtQGl9\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"iS!-;G+snS)ML@1l1*P%\"><field name=\"NUM\">0.5</field></block></value><next><block type=\"coderbot_sleep\" id=\"/vCSdFhWoJq}Z~+GZv@B\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"x)rjS0}jg(awX7.?Vw6}\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"nkX`O8.7pQ/nRXu}}SJ=\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value><next><block type=\"coderbot_adv_move\" id=\"lzJKDW53E#N;!A;c=C@_\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"PA|Q|jw0.1~mrO$9Q%P;\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"G|iI)YzX$qKo3I+17OnJ\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"I.S?k*]?]8:ux2At*LJ1\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"CXKnQkB)^Mp8+FB%/Kq}\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"Xe+Rt?_8u.vO?W@ZWs2-\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"j4=;9]Ka!u+7?MAJPGh?\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"YTc?Tsq{XFq({Kc.X:l2\"><field name=\"NUM\">0.5</field></block></value><next><block type=\"coderbot_sleep\" id=\"~D0glLe($lFOxGCVt({`\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"k=7sJ/UX#,{!dlpX;H`6\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"6%wD3wHrc$f(?}Bq)28s\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value></block></next></block></next></block></next></block></statement><value name=\"IF1\"><block type=\"logic_compare\" id=\"i374]E^am-M6uyS?-gKC\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"coderbot_sonar_get_distance\" id=\"Xp?Z4ev2ys-O`aN-$WNL\"><field name=\"SONAR\">1</field></block></value><value name=\"B\"><block type=\"math_number\" id=\",2c5e_Y3:j:T[liXjo{l\"><field name=\"NUM\">20</field></block></value></block></value><statement name=\"DO1\"><block type=\"coderbot_adv_move\" id=\"Am`s@r3LgvQtrS1TL57q\"><field name=\"ACTION\">LEFT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"~prj;Zl(AJ|,`oeCCf-,\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"DcI1#yBE~@moiU6YAv#x\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"j`G2K]gZRIV)]2.7dzG9\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"]wDU`;H3W8![o1a2fzk1\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"3/hwsno_gvMwqLT_mgV!\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"/5eh,CVTRpqcb/s5{R5H\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"8t@}mCD~^YNfqoRxQJl%\"><field name=\"NUM\">0.5</field></block></value><next><block type=\"coderbot_sleep\" id=\"]/3=*vM9ken$o-O1f~fV\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"*SfrgoD6pBdYTZcV!|0b\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"WPe.SW;HHIq|eAB`,BJ`\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value></block></next></block></statement><value name=\"IF2\"><block type=\"logic_compare\" id=\"Oi)HJ7[XQLUo?9Ja,p{i\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"coderbot_sonar_get_distance\" id=\"VX/j*WrI[j^f/|ei-f:(\"><field name=\"SONAR\">2</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"J=/3jvhaq=%R42539s$D\"><field name=\"NUM\">20</field></block></value></block></value><statement name=\"DO2\"><block type=\"coderbot_adv_move\" id=\"Yw+`{06m}q=Xy[hpZc--\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"/^l1V(M*RdBL=xaqy1tq\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"m_d8qZ${$Q]1dgRC9kg1\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"P1aDE;avAT65i|PhY=-2\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"rv=.e$[u+4J|wpmE!WWc\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"=72b0Fu=xSqlre+0P==V\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\",=w/soAS//gtuY7.MR1L\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"HM%|wVB7+V~p-IL[*AR^\"><field name=\"NUM\">0.5</field></block></value><next><block type=\"coderbot_sleep\" id=\"yJFCwyQPE5=?0r/~vamL\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"5W!KOp9GS.b=}L5otZuU\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"^omY,%{F`GV!pDo}yZrv\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value></block></next></block></statement><statement name=\"ELSE\"><block type=\"coderbot_adv_move\" id=\":l(I1S51$*1Y1BPm^@/w\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"SHq.(.XcZ}7M,l8RC_c@\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"w7#zA8o]]XpeNtS=VD-:\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"J9Igw@@/VH.K__Yl)@~p\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"Uo@*[cy$0q1dgsf#Q^z-\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"tb~[WgJ9A+?zO!3y}p;U\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"`}JdE]gqQ@ZY1w]uW%5C\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"GHLs)siSUy|OQqqr3dIo\"><field name=\"NUM\">0.5</field></block></value><next><block type=\"coderbot_sleep\" id=\"LcaW`EM+]Jb=X?I[;JSB\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"`tVVItwfg.HfaD1gzB=:\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"aBw0-LWH!FA$beTy(Zhv\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value></block></next></block></statement></block></statement></block></statement></block><block type=\"variables_set\" id=\"i9a!EM@s`-6hUdv$sr@3\" x=\"-546\" y=\"-188\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field><value name=\"VALUE\"><block type=\"math_number\" id=\"^=8DhFn=]2Efwc(|OkiD\"><field name=\"NUM\">0.2</field></block></value><next><block type=\"variables_set\" id=\"zjzJg@NAQU,k/!!@n5,*\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field><value name=\"VALUE\"><block type=\"math_number\" id=\"nDs=tH{gKK+fBi0-bA/_\"><field name=\"NUM\">80</field></block></value><next><block type=\"variables_set\" id=\"uD3I^ll~9L#obOA^SI!0\"><field name=\"VAR\" id=\"8|Zzym8yh{-PoN!=cEIq\">var_marciaIndietro</field><value name=\"VALUE\"><block type=\"math_number\" id=\"~G:^Vj.oE0(OO]ZP3Vcn\"><field name=\"NUM\">0</field></block></value><next><block type=\"variables_set\" id=\"Obn8q0fElL9mB(i|1]5[\"><field name=\"VAR\" id=\"k0;Q7iBn,I9wGXMH?}Do\">var_giravolte</field><value name=\"VALUE\"><block type=\"math_number\" id=\"H!=muFCqUw/I?)IGAUt|\"><field name=\"NUM\">0</field></block></value><next><block type=\"variables_set\" id=\"I/mn7F@$p-}4[H4_SBqY\"><field name=\"VAR\" id=\"]o~;Yi%sgc~I2zpMw@#p\">var_ritirata</field><value name=\"VALUE\"><block type=\"math_number\" id=\"*azH8=DJtBx-pQwu4|V6\"><field name=\"NUM\">0</field></block></value><next><block type=\"variables_set\" id=\"tEC)Up7J)~4{(Dz1[lCj\"><field name=\"VAR\" id=\";M|:6*RIcl{fLp+^(S~p\">stanco</field><value name=\"VALUE\"><block type=\"math_number\" id=\"E%Tw$~W4?sv.fNIxv0Ma\"><field name=\"NUM\">0</field></block></value><next><block type=\"variables_set\" id=\"x4jFKBKS^fdsk#T.U7Z!\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field><value name=\"VALUE\"><block type=\"math_number\" id=\"6ZiB~3h3aO3z5)_kg[zG\"><field name=\"NUM\">1</field></block></value><next><block type=\"controls_whileUntil\" id=\"-yfR%N=ZA:dr/vf[$_Y+\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"H@,=TqL*XM3|6M}Z:3+C\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"math_change\" id=\"1%fq4KBED@gkjP~jlRMk\"><field name=\"VAR\" id=\";M|:6*RIcl{fLp+^(S~p\">stanco</field><value name=\"DELTA\"><block type=\"math_number\" id=\";S+Wfd9n5g26eOE9EngY\"><field name=\"NUM\">1</field></block></value><next><block type=\"math_change\" id=\"f-`F7YcK2uSF1[N^tPM{\"><field name=\"VAR\" id=\"8|Zzym8yh{-PoN!=cEIq\">var_marciaIndietro</field><value name=\"DELTA\"><shadow type=\"math_number\" id=\"{gD@*ayDq5d6tMw(2Kbc\"><field name=\"NUM\">1</field></shadow></value><next><block type=\"math_change\" id=\"dS?rG_[64b{_2vBnB^QM\"><field name=\"VAR\" id=\"k0;Q7iBn,I9wGXMH?}Do\">var_giravolte</field><value name=\"DELTA\"><shadow type=\"math_number\" id=\"dkbf0gA|c8o0Cm=!@gQT\"><field name=\"NUM\">1</field></shadow></value><next><block type=\"math_change\" id=\"`)S8h1qAw*?jy*ixY}u+\"><field name=\"VAR\" id=\"]o~;Yi%sgc~I2zpMw@#p\">var_ritirata</field><value name=\"DELTA\"><shadow type=\"math_number\" id=\"1L=-j:W;2d`s1`:q.su~\"><field name=\"NUM\">1</field></shadow></value><next><block type=\"controls_if\" id=\"S!3#D%1@0YM^;{sm}Q.k\"><mutation elseif=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"/dnfv--t9_A=(06arGX$\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"/}JP!cseKId$umH4~#!d\"><field name=\"VAR\" id=\";M|:6*RIcl{fLp+^(S~p\">stanco</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"9WL24mxLME}qFQWRype$\"><field name=\"NUM\">5</field></block></value></block></value><statement name=\"DO0\"><block type=\"variables_set\" id=\"~_/s2uIq9S6k56j~CVA#\"><field name=\"VAR\" id=\";M|:6*RIcl{fLp+^(S~p\">stanco</field><value name=\"VALUE\"><block type=\"math_number\" id=\"YjfWxc5Q+w#]Da0z;@@s\"><field name=\"NUM\">0</field></block></value><next><block type=\"variables_set\" id=\"@Z/po(O(J`O{*FUL?#%K\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field><value name=\"VALUE\"><block type=\"math_number\" id=\"jmeKZm8wIKG-As_[L%t4\"><field name=\"NUM\">1</field></block></value></block></next></block></statement><value name=\"IF1\"><block type=\"logic_compare\" id=\"E@jRA2fJ},Gr}awmmspH\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"variables_get\" id=\"|RNUw6)n!:kvhSz]2of^\"><field name=\"VAR\" id=\";M|:6*RIcl{fLp+^(S~p\">stanco</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"Q@W~I[!UTRLrFCi:+4D4\"><field name=\"NUM\">3</field></block></value></block></value><statement name=\"DO1\"><block type=\"variables_set\" id=\"TX2klHO#QS96(-b;oxdw\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field><value name=\"VALUE\"><block type=\"math_number\" id=\"}5,MJoA8{Gp/tD?@oBQq\"><field name=\"NUM\">0.5</field></block></value></block></statement><next><block type=\"procedures_callnoreturn\" id=\"k`=DiML{Ev{}a{|`u#r^\"><mutation name=\"Scodinzola\"></mutation><next><block type=\"procedures_callnoreturn\" id=\":ye0=GgRvJ|3|S7-:50(\"><mutation name=\"Evita_Ostacoli\"></mutation><next><block type=\"procedures_callnoreturn\" id=\"`QMv)mRAiqx$_MAPiJ#(\"><mutation name=\"Patugliamento\"></mutation><next><block type=\"controls_if\" id=\"BlK3e^r83~^p3h*QJQB(\"><value name=\"IF0\"><block type=\"logic_compare\" id=\"N`FCfoA4|6B]gmd@$Dno\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"9ryL2^n0LI=Njn!yDEHO\"><field name=\"VAR\" id=\"]o~;Yi%sgc~I2zpMw@#p\">var_ritirata</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"-FitrZK{v?e%Bl96c?t[\"><field name=\"NUM\">4</field></block></value></block></value><statement name=\"DO0\"><block type=\"variables_set\" id=\"oE:q?4%-V6J,QS}AjzFy\"><field name=\"VAR\" id=\"]o~;Yi%sgc~I2zpMw@#p\">var_ritirata</field><value name=\"VALUE\"><block type=\"math_number\" id=\"b775EElpGb*z4nrauX3b\"><field name=\"NUM\">0</field></block></value><next><block type=\"procedures_callnoreturn\" id=\"`hI(00uN;R!C0:4FyTci\"><mutation name=\"Ritirata_e_fuga\"></mutation></block></next></block></statement><next><block type=\"controls_if\" id=\"?p]@;Dl*R1%(/PQ!=dWJ\"><value name=\"IF0\"><block type=\"logic_compare\" id=\"@MV6{HWJdTLo1usYNV2W\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"G56lN%n(%*qfMbha3fjO\"><field name=\"VAR\" id=\"k0;Q7iBn,I9wGXMH?}Do\">var_giravolte</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"@]`ZuP~Ps,dfw9u7_/]~\"><field name=\"NUM\">8</field></block></value></block></value><statement name=\"DO0\"><block type=\"variables_set\" id=\")Q=MM=wJix8:e}3t!6p8\"><field name=\"VAR\" id=\"k0;Q7iBn,I9wGXMH?}Do\">var_giravolte</field><value name=\"VALUE\"><block type=\"math_number\" id=\"x7=CztX|VrM#X=PCQA2[\"><field name=\"NUM\">0</field></block></value><next><block type=\"procedures_callnoreturn\" id=\"DTy{!1~CoWr@ee?Sa;-@\"><mutation name=\"Giravolte\"></mutation></block></next></block></statement><next><block type=\"coderbot_sleep\" id=\"88T*(,r#Vj@:5zDE9tEO\"><value name=\"ELAPSE\"><block type=\"math_number\" id=\"42a6{m0y}CCt=]AHjj`6\"><field name=\"NUM\">5</field></block></value><next><block type=\"controls_if\" id=\"?5V^l6nIq)IysusCwzDR\"><value name=\"IF0\"><block type=\"logic_compare\" id=\",Fqr6N)B(p0}6{`5cj@!\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\" id=\"pOVIS4*1q_5EkuSnmj5O\"><field name=\"VAR\" id=\"8|Zzym8yh{-PoN!=cEIq\">var_marciaIndietro</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"V_L}xISG;/(yv+LDAq?C\"><field name=\"NUM\">6</field></block></value></block></value><statement name=\"DO0\"><block type=\"variables_set\" id=\"!rUQPht{;fn5,B39fxcB\"><field name=\"VAR\" id=\"8|Zzym8yh{-PoN!=cEIq\">var_marciaIndietro</field><value name=\"VALUE\"><block type=\"math_number\" id=\"3KIWSuuWoCFaux|K`2GK\"><field name=\"NUM\">0</field></block></value><next><block type=\"procedures_callnoreturn\" id=\"=}BrOn/{1I*_k%*4~pC+\"><mutation name=\"MarciaIndietro_e_Scarto\"></mutation></block></next></block></statement></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></statement></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block><block type=\"procedures_defnoreturn\" id=\"Wph:,`b9y/Qr@m#qVKh8\" x=\"105\" y=\"236\"><field name=\"NAME\">Giravolte</field><comment pinned=\"false\" h=\"80\" w=\"160\">Descrivi questa funzione...</comment><statement name=\"STACK\"><block type=\"coderbot_adv_move\" id=\"){(:UQ%yk$)1o1Pguk9S\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"c5hzzlx2+eA%touCb]1`\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"lydvF$Ej,y;~N7Po7)o*\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"]9^qO6wW.}1C+h$MbiDE\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"|HP$c2sw0L^tzXq-fLy(\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"#wD6$fKI/W:^T0,9*{8.\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"i*Zleg*v;rpIcG.i7(J:\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"]EVJ2A)5rU){Yqlll0@p\"><field name=\"NUM\">2</field></block></value><next><block type=\"coderbot_sleep\" id=\"d.86;#zvChlP=wxiRYK{\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"wHB]k#o@Np$i#8^9apv!\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"Rde:F#~+L06azq2tVyD-\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value></block></next></block></statement></block><block type=\"procedures_defnoreturn\" id=\"#Lt]PDTBgL/]Mr,,RwFk\" x=\"31\" y=\"400\"><field name=\"NAME\">Patugliamento</field><comment pinned=\"false\" h=\"80\" w=\"160\">Descrivi questa funzione...</comment><statement name=\"STACK\"><block type=\"controls_repeat_ext\" id=\"zU:(eaKOX8bwg|@q)l/x\"><value name=\"TIMES\"><block type=\"math_number\" id=\"yzK?W9/:u/?TIb)n`E{l\"><field name=\"NUM\">3</field></block></value><statement name=\"DO\"><block type=\"coderbot_adv_move\" id=\"%k|)9QK~_+#YJ[i]f(^|\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"~_wpvFs,tj:4ZSU!6cmI\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"!qKX^lFR%49P+$0r%N;6\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"W0F$EFUx8!vMe|8,m`e)\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"8TVs2lFlm;#yzBe6_g9]\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"YHo$W[}K#~s[ir9kNv)_\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"u)Hj]9kY}4_a.DRL@rG?\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"y4w)^60I$wv3fB6T@Gbj\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_sleep\" id=\"5Bfgw2kcW($A8vSHtir.\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"*!VdE}A-vb2YZ-a^p06D\"><field name=\"NUM\">0.5</field></shadow></value></block></next></block></statement></block></statement></block><block type=\"procedures_defnoreturn\" id=\"k).IYZ!#sHk(8noL0i@l\" x=\"-93\" y=\"642\"><field name=\"NAME\">Ritirata_e_fuga</field><comment pinned=\"false\" h=\"80\" w=\"160\">Descrivi questa funzione...</comment><statement name=\"STACK\"><block type=\"coderbot_adv_move\" id=\"[~BG$Oi=L4ZH@MEvOEtV\"><field name=\"ACTION\">BACKWARD</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"?RuLhTzie::^EqgHxS)x\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"{o8]MWs*L7Xm(10NerE`\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"%F|VO,DV~}UHb:@|C2p-\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"c[;21(SABvfs)G)|4x^Z\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"Lb_3Nu2HTBW9gtaA8D+`\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"yst;fA`Z%rps/:1!a:v?\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"a_?(=WI*yG|Qw@p0#tcq\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_sleep\" id=\"Pp)@[psXrpWB%/nL5}Vc\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"rEx#9(2@Z%N`|DnWh+an\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"o7B~om;.tZrb6@p)?EKY\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value><next><block type=\"coderbot_adv_move\" id=\"PR|@J[;x$lCEM(4:.S(~\"><field name=\"ACTION\">LEFT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"f)~FYQvG=f/)C9n|kusd\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"^O.!+5/K#K!T#OZds3gz\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"v|f3Q5~D0I.k*to]}=vH\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"~egc|sz;b2=r#9h;O:F/\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"qRJL!80G9IL_?@PGQV$r\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"pfLThV)s=gML_k3{I5jV\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"]}Uj)tHeUYGo]lc^$yL+\"><field name=\"NUM\">3</field></block></value><next><block type=\"coderbot_sleep\" id=\"=%5988mlKNB(RjC0Ua^d\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"E~M696!a~}o-oXq1E]3x\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\":.J$pq2!m5|F4+^*qXiF\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value><next><block type=\"coderbot_adv_move\" id=\",5-k}T[BoGUuJt=#q8y/\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"Gw-[#MNK.kb(Pk+@oyR}\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"$:{Ytk.}NMv*^1k:*j+d\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"gMg4F/eD[6_*An+0N#1Y\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"IGeI6gf.7_tJ;uxoau+V\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"^yf:cE[2SnCjF6M7rKU~\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"mTnh,E_(RE`3L)j2;|s3\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"l+Ck2grV#HM3.7N!xIzk\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_sleep\" id=\"D|Zu+_W_#Hecykew]HjB\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"Y(D;RDGx-_?vUoP@{E|S\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"_J~jub1fQ$0.7h}aRX9#\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value></block></next></block></next></block></next></block></next></block></next></block></statement></block><block type=\"procedures_defnoreturn\" id=\"C2,|x88yVW6)$C|.Z[fn\" x=\"869\" y=\"650\"><field name=\"NAME\">MarciaIndietro_e_Scarto</field><comment pinned=\"false\" h=\"80\" w=\"160\">Descrivi questa funzione...</comment><statement name=\"STACK\"><block type=\"coderbot_adv_move\" id=\"io(!A$V*Tw58pI}^6_YY\"><field name=\"ACTION\">BACKWARD</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\":[u[8j)-^u#O^k`vIU9L\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"q2_I$}9a~5hZ4}@#`$^_\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"Y.`7b`52G9cmcxW?%3wl\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"hCC*}yGz5:h}h6dMwS!y\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"|m-nKgik@#(Y#zPfqU=,\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"`v-dkUixI3E=wr_G(!Ps\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"rRihLI!yF)H~N-qDFQz`\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_sleep\" id=\"f)]lI*iZwr2k$/-,OJ09\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"S#Y;lv?GQsDc7Za1uD^+\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"%~G.hJ0_bq{H8p(^LE-1\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value><next><block type=\"coderbot_adv_move\" id=\"n[LcL!+Xt9y6roV{2Z*[\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_constrain\" id=\"QS=:BWqYG)%$)mU78~kQ\"><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!LaIzDe9hM33v4k~rW;R\"><field name=\"NUM\">50</field></shadow><block type=\"math_arithmetic\" id=\"3||`T0aFosR5VFJaXS#I\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"math_number\" id=\"LsMIWEV,WsfUY5KF]PVY\"><field name=\"NUM\">100</field></block></value><value name=\"B\"><block type=\"variables_get\" id=\"Q@KPVYLIp2/|i/R/4?EZ\"><field name=\"VAR\" id=\"}Amjkrp!.(7[D41[a^{6\">velocita</field></block></value></block></value><value name=\"LOW\"><shadow type=\"math_number\" id=\"XdKC2u$Zz`AzvrUT/3]z\"><field name=\"NUM\">1</field></shadow></value><value name=\"HIGH\"><shadow type=\"math_number\" id=\"khuxM7iyFn8#/XPdIM6(\"><field name=\"NUM\">100</field></shadow><block type=\"variables_get\" id=\"wu#EubUV3Ic$jo)%{UzR\"><field name=\"VAR\" id=\"pnH_=,ZT2cUsaU7OS+#X\">velocita_max</field></block></value></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"53`z:pDpu+~Sv3~`N-G~\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_sleep\" id=\"!rX}?uvL2bjbK+8xT_QY\"><value name=\"ELAPSE\"><shadow type=\"math_number\" id=\"/2aHV}CkHtI*dAV{sSM/\"><field name=\"NUM\">0.2</field></shadow><block type=\"variables_get\" id=\"BOQ!ur6NR+#^~sk}YB)D\"><field name=\"VAR\" id=\"%dU@,Fu?J~t%QJ,78`Md\">attesa</field></block></value></block></next></block></next></block></next></block></statement></block></xml>","code":"from numbers import Number\n\nattesa = None\nvelocita_max = None\nvar_marciaIndietro = None\nvar_giravolte = None\nvar_ritirata = None\nvelocita = None\nstanco = None\n\n# Descrivi questa funzione...\ndef Scodinzola():\n global attesa, velocita_max, var_marciaIndietro, var_giravolte, var_ritirata, velocita, stanco\n get_prog_eng().check_end()\n for count in range(3):\n get_prog_eng().check_end()\n get_bot().right(speed=min(max(100 * velocita, 1), velocita_max), elapse=0.3)\n get_bot().sleep(attesa)\n get_bot().left(speed=min(max(100 * velocita, 1), velocita_max), elapse=0.5)\n get_bot().sleep(attesa)\n get_bot().right(speed=min(max(100 * velocita, 1), velocita_max), elapse=0.3)\n get_bot().sleep(attesa)\n\n# Descrivi questa funzione...\ndef Evita_Ostacoli():\n global attesa, velocita_max, var_marciaIndietro, var_giravolte, var_ritirata, velocita, stanco\n get_prog_eng().check_end()\n for count2 in range(15):\n get_prog_eng().check_end()\n if get_bot().get_sonar_distance(0) < 20:\n get_bot().backward(speed=min(max(100 * velocita, 1), velocita_max), elapse=0.5)\n get_bot().sleep(attesa)\n get_bot().right(speed=min(max(100 * velocita, 1), velocita_max), elapse=0.5)\n get_bot().sleep(attesa)\n elif get_bot().get_sonar_distance(1) < 20:\n get_bot().left(speed=min(max(100 * velocita, 1), velocita_max), elapse=0.5)\n get_bot().sleep(attesa)\n elif get_bot().get_sonar_distance(2) < 20:\n get_bot().right(speed=min(max(100 * velocita, 1), velocita_max), elapse=0.5)\n get_bot().sleep(attesa)\n else:\n get_bot().forward(speed=min(max(100 * velocita, 1), velocita_max), elapse=0.5)\n get_bot().sleep(attesa)\n\n# Descrivi questa funzione...\ndef Giravolte():\n global attesa, velocita_max, var_marciaIndietro, var_giravolte, var_ritirata, velocita, stanco\n get_prog_eng().check_end()\n get_bot().right(speed=min(max(100 * velocita, 1), velocita_max), elapse=2)\n get_bot().sleep(attesa)\n\n# Descrivi questa funzione...\ndef Patugliamento():\n global attesa, velocita_max, var_marciaIndietro, var_giravolte, var_ritirata, velocita, stanco\n get_prog_eng().check_end()\n for count3 in range(3):\n get_prog_eng().check_end()\n get_bot().right(speed=min(max(100 * velocita, 1), velocita_max), elapse=1)\n get_bot().sleep(0.5)\n\n# Descrivi questa funzione...\ndef Ritirata_e_fuga():\n global attesa, velocita_max, var_marciaIndietro, var_giravolte, var_ritirata, velocita, stanco\n get_prog_eng().check_end()\n get_bot().backward(speed=min(max(100 * velocita, 1), velocita_max), elapse=1)\n get_bot().sleep(attesa)\n get_bot().left(speed=min(max(100 * velocita, 1), velocita_max), elapse=3)\n get_bot().sleep(attesa)\n get_bot().forward(speed=min(max(100 * velocita, 1), velocita_max), elapse=1)\n get_bot().sleep(attesa)\n\n# Descrivi questa funzione...\ndef MarciaIndietro_e_Scarto():\n global attesa, velocita_max, var_marciaIndietro, var_giravolte, var_ritirata, velocita, stanco\n get_prog_eng().check_end()\n get_bot().backward(speed=min(max(100 * velocita, 1), velocita_max), elapse=1)\n get_bot().sleep(attesa)\n get_bot().right(speed=min(max(100 * velocita, 1), velocita_max), elapse=1)\n get_bot().sleep(attesa)\n\n\nattesa = 0.2\nvelocita_max = 80\nvar_marciaIndietro = 0\nvar_giravolte = 0\nvar_ritirata = 0\nstanco = 0\nvelocita = 1\nwhile True:\n get_prog_eng().check_end()\n stanco = (stanco if isinstance(stanco, Number) else 0) + 1\n var_marciaIndietro = (var_marciaIndietro if isinstance(var_marciaIndietro, Number) else 0) + 1\n var_giravolte = (var_giravolte if isinstance(var_giravolte, Number) else 0) + 1\n var_ritirata = (var_ritirata if isinstance(var_ritirata, Number) else 0) + 1\n if stanco == 5:\n stanco = 0\n velocita = 1\n elif stanco > 3:\n velocita = 0.5\n Scodinzola()\n Evita_Ostacoli()\n Patugliamento()\n if var_ritirata == 4:\n var_ritirata = 0\n Ritirata_e_fuga()\n if var_giravolte == 8:\n var_giravolte = 0\n Giravolte()\n get_bot().sleep(5)\n if var_marciaIndietro == 6:\n var_marciaIndietro = 0\n MarciaIndietro_e_Scarto()\n","default":""}
\ No newline at end of file
diff --git a/defaults/programs/program_demo_sound_clap_control.json b/defaults/programs/program_demo_sound_clap_control.json
index a735de15..c42d2efd 100644
--- a/defaults/programs/program_demo_sound_clap_control.json
+++ b/defaults/programs/program_demo_sound_clap_control.json
@@ -1 +1 @@
-{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><block type=\"controls_whileUntil\" x=\"-43\" y=\"126\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\"><field name=\"VAR\">noise</field><value name=\"VALUE\"><block type=\"coderbot_audio_hear\"><value name=\"LEVEL\"><block type=\"math_number\"><field name=\"NUM\">1000</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">0.2</field></block></value></block></value><next><block type=\"text_print\"><value name=\"TEXT\"><block type=\"variables_get\"><field name=\"VAR\">noise</field></block></value><next><block type=\"controls_if\"><mutation else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\"><field name=\"VAR\">noise</field></block></value><value name=\"B\"><block type=\"logic_boolean\"><field name=\"BOOL\">FALSE</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_number\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">-1</field></block></value></block></statement><statement name=\"ELSE\"><block type=\"coderbot_adv_move\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_number\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">0.5</field></block></value></block></statement></block></next></block></next></block></statement><next><block type=\"coderbot_adv_stop\"></block></next></block></xml>", "code": "noise = None\n\n\nwhile True:\n get_prog_eng().check_end()\n noise = get_audio().hear(level=1000, elapse=0.2)\n get_cam().set_text(noise)\n if noise == False:\n get_bot().forward(speed=100, elapse=-1)\n else:\n get_bot().right(speed=100, elapse=0.5)\nget_bot().stop()\n", "name": "demo_sound_clap_control"}
\ No newline at end of file
+{"id": "e4dada78-915e-4916-931a-e96f754812c4", "dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><block type=\"controls_whileUntil\" x=\"-43\" y=\"126\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\"><field name=\"VAR\">noise</field><value name=\"VALUE\"><block type=\"coderbot_audio_hear\"><value name=\"LEVEL\"><block type=\"math_number\"><field name=\"NUM\">1000</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">0.2</field></block></value></block></value><next><block type=\"text_print\"><value name=\"TEXT\"><block type=\"variables_get\"><field name=\"VAR\">noise</field></block></value><next><block type=\"controls_if\"><mutation else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\"><field name=\"OP\">EQ</field><value name=\"A\"><block type=\"variables_get\"><field name=\"VAR\">noise</field></block></value><value name=\"B\"><block type=\"logic_boolean\"><field name=\"BOOL\">FALSE</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_number\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">-1</field></block></value></block></statement><statement name=\"ELSE\"><block type=\"coderbot_adv_move\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_number\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">0.5</field></block></value></block></statement></block></next></block></next></block></statement><next><block type=\"coderbot_adv_stop\"></block></next></block></xml>", "code": "noise = None\n\n\nwhile True:\n get_prog_eng().check_end()\n noise = get_audio().hear(level=1000, elapse=0.2)\n get_cam().set_text(noise)\n if noise == False:\n get_bot().forward(speed=100, elapse=-1)\n else:\n get_bot().right(speed=100, elapse=0.5)\nget_bot().stop()\n", "name": "demo_sound_clap_control"}
\ No newline at end of file
diff --git a/defaults/programs/program_test_cnn_classifier.json b/defaults/programs/program_test_cnn_classifier.json
index e79a8329..ac8cbdc2 100644
--- a/defaults/programs/program_test_cnn_classifier.json
+++ b/defaults/programs/program_test_cnn_classifier.json
@@ -1 +1 @@
-{"name": "test_cnn_classifier", "dom_code": "<xml xmlns=\"https://developers.google.com/blockly/xml\"><block type=\"controls_whileUntil\" id=\"[^a!+/Zsc!iXdJ*Z-Go#\" x=\"18\" y=\"118\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"2Qi5#s+x(vg-{l2glVGI\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"text_print\" id=\"PAYJ[1S)`0Gl#=M`cX=g\"><value name=\"TEXT\"><block type=\"coderbot_adv_cnn_classify\" id=\"RIid_M~T~h6a}xySf%7I\"><field name=\"MODEL\">generic_fast_low</field></block></value></block></statement></block></xml>", "code": "while True:\n get_prog_eng().check_end()\n get_cam().set_text(get_cam().cnn_classify(\"generic_fast_low\"))\n"}
\ No newline at end of file
+{"id": "4b19dbc7-55a8-4888-9e2e-e05a0e65d29e", "name": "test_cnn_classifier", "dom_code": "<xml xmlns=\"https://developers.google.com/blockly/xml\"><block type=\"controls_whileUntil\" id=\"[^a!+/Zsc!iXdJ*Z-Go#\" x=\"18\" y=\"118\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"2Qi5#s+x(vg-{l2glVGI\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"text_print\" id=\"PAYJ[1S)`0Gl#=M`cX=g\"><value name=\"TEXT\"><block type=\"coderbot_adv_cnn_classify\" id=\"RIid_M~T~h6a}xySf%7I\"><field name=\"MODEL\">generic_fast_low</field></block></value></block></statement></block></xml>", "code": "while True:\n get_prog_eng().check_end()\n get_cam().set_text(get_cam().cnn_classify(\"generic_fast_low\"))\n"}
\ No newline at end of file
diff --git a/defaults/programs/program_test_cnn_object_detect.json b/defaults/programs/program_test_cnn_object_detect.json
index 9723235d..f7e994bd 100644
--- a/defaults/programs/program_test_cnn_object_detect.json
+++ b/defaults/programs/program_test_cnn_object_detect.json
@@ -1 +1 @@
-{"name": "test_cnn_object_detect", "dom_code": "<xml xmlns=\"https://developers.google.com/blockly/xml\"><block type=\"controls_whileUntil\" id=\"[^a!+/Zsc!iXdJ*Z-Go#\" x=\"18\" y=\"118\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"2Qi5#s+x(vg-{l2glVGI\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"text_print\" id=\"PAYJ[1S)`0Gl#=M`cX=g\"><value name=\"TEXT\"><block type=\"coderbot_adv_cnn_detect_objects\" id=\"m(x+AUHK}k[f:xAb;!iH\"><field name=\"MODEL\">generic_object_detect</field></block></value></block></statement></block></xml>", "code": "while True:\n get_prog_eng().check_end()\n get_cam().set_text(get_cam().cnn_detect_objects(\"generic_object_detect\"))\n"}
\ No newline at end of file
+{"id": "9622b72c-c7d4-4643-9c76-3148f16572a7", "name": "test_cnn_object_detect", "dom_code": "<xml xmlns=\"https://developers.google.com/blockly/xml\"><block type=\"controls_whileUntil\" id=\"[^a!+/Zsc!iXdJ*Z-Go#\" x=\"18\" y=\"118\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"2Qi5#s+x(vg-{l2glVGI\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"text_print\" id=\"PAYJ[1S)`0Gl#=M`cX=g\"><value name=\"TEXT\"><block type=\"coderbot_adv_cnn_detect_objects\" id=\"m(x+AUHK}k[f:xAb;!iH\"><field name=\"MODEL\">generic_object_detect</field></block></value></block></statement></block></xml>", "code": "while True:\n get_prog_eng().check_end()\n get_cam().set_text(get_cam().cnn_detect_objects(\"generic_object_detect\"))\n"}
\ No newline at end of file
diff --git a/defaults/programs/program_test_find_code.json b/defaults/programs/program_test_find_code.json
index 37b1b610..346a4b04 100644
--- a/defaults/programs/program_test_find_code.json
+++ b/defaults/programs/program_test_find_code.json
@@ -1 +1 @@
-{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><variables></variables><block type=\"controls_whileUntil\" id=\"0Mx[mSKoV~Gk1qbv5Wrn\" x=\"9\" y=\"103\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"q8(wB97}Y)d71cgy$yo#\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"text_print\" id=\"0fGi]QOF@I*b$5x^?f#A\"><value name=\"TEXT\"><block type=\"coderbot_adv_findQRCode\" id=\"zG.;=ZyX~k=YR$T(6JF*\"></block></value></block></statement></block></xml>", "code": "while True:\n get_prog_eng().check_end()\n get_cam().set_text(get_cam().find_qr_code())\n", "name": "test_find_code"}
\ No newline at end of file
+{"id": "6cc16350-c47c-4e02-b442-be3fa7ce5942", "dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><variables></variables><block type=\"controls_whileUntil\" id=\"0Mx[mSKoV~Gk1qbv5Wrn\" x=\"9\" y=\"103\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"q8(wB97}Y)d71cgy$yo#\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"text_print\" id=\"0fGi]QOF@I*b$5x^?f#A\"><value name=\"TEXT\"><block type=\"coderbot_adv_findQRCode\" id=\"zG.;=ZyX~k=YR$T(6JF*\"></block></value></block></statement></block></xml>", "code": "while True:\n get_prog_eng().check_end()\n get_cam().set_text(get_cam().find_qr_code())\n", "name": "test_find_code"}
\ No newline at end of file
diff --git a/defaults/programs/program_test_find_color.json b/defaults/programs/program_test_find_color.json
index 293735b1..9cd9e0ee 100644
--- a/defaults/programs/program_test_find_color.json
+++ b/defaults/programs/program_test_find_color.json
@@ -1 +1 @@
-{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><block type=\"controls_whileUntil\" x=\"1\" y=\"90\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\"><field name=\"VAR\">dist</field><value name=\"VALUE\"><block type=\"coderbot_adv_findColor\"><field name=\"RETVAL\">DIST</field><value name=\"COLOR\"><block type=\"text\"><field name=\"TEXT\">#96b73c</field></block></value></block></value><next><block type=\"variables_set\"><field name=\"VAR\">angle</field><value name=\"VALUE\"><block type=\"coderbot_adv_findColor\"><field name=\"RETVAL\">ANGLE</field><value name=\"COLOR\"><block type=\"text\"><field name=\"TEXT\">#96b73c</field></block></value></block></value><next><block type=\"text_print\"><value name=\"TEXT\"><block type=\"text_join\"><mutation items=\"4\"></mutation><value name=\"ADD0\"><block type=\"text\"><field name=\"TEXT\">Distance: </field></block></value><value name=\"ADD1\"><block type=\"variables_get\"><field name=\"VAR\">dist</field></block></value><value name=\"ADD2\"><block type=\"text\"><field name=\"TEXT\"> angle: </field></block></value><value name=\"ADD3\"><block type=\"variables_get\"><field name=\"VAR\">angle</field></block></value></block></value></block></next></block></next></block></statement></block></xml>", "code": "dist = None\nangle = None\n\n\nwhile True:\n get_prog_eng().check_end()\n dist = get_cam().find_color('#96b73c')[0]\n angle = get_cam().find_color('#96b73c')[1]\n get_cam().set_text(''.join([str(temp_value) for temp_value in ['Distance: ', dist, ' angle: ', angle]]))\n", "name": "test_find_color"}
\ No newline at end of file
+{"id": "9fb15bbd-97a6-490f-89c9-67a1ae0f1598", "dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><block type=\"controls_whileUntil\" x=\"1\" y=\"90\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\"><field name=\"VAR\">dist</field><value name=\"VALUE\"><block type=\"coderbot_adv_findColor\"><field name=\"RETVAL\">DIST</field><value name=\"COLOR\"><block type=\"text\"><field name=\"TEXT\">#96b73c</field></block></value></block></value><next><block type=\"variables_set\"><field name=\"VAR\">angle</field><value name=\"VALUE\"><block type=\"coderbot_adv_findColor\"><field name=\"RETVAL\">ANGLE</field><value name=\"COLOR\"><block type=\"text\"><field name=\"TEXT\">#96b73c</field></block></value></block></value><next><block type=\"text_print\"><value name=\"TEXT\"><block type=\"text_join\"><mutation items=\"4\"></mutation><value name=\"ADD0\"><block type=\"text\"><field name=\"TEXT\">Distance: </field></block></value><value name=\"ADD1\"><block type=\"variables_get\"><field name=\"VAR\">dist</field></block></value><value name=\"ADD2\"><block type=\"text\"><field name=\"TEXT\"> angle: </field></block></value><value name=\"ADD3\"><block type=\"variables_get\"><field name=\"VAR\">angle</field></block></value></block></value></block></next></block></next></block></statement></block></xml>", "code": "dist = None\nangle = None\n\n\nwhile True:\n get_prog_eng().check_end()\n dist = get_cam().find_color('#96b73c')[0]\n angle = get_cam().find_color('#96b73c')[1]\n get_cam().set_text(''.join([str(temp_value) for temp_value in ['Distance: ', dist, ' angle: ', angle]]))\n", "name": "test_find_color"}
\ No newline at end of file
diff --git a/defaults/programs/program_test_find_face.json b/defaults/programs/program_test_find_face.json
index 4320243b..44008f5f 100644
--- a/defaults/programs/program_test_find_face.json
+++ b/defaults/programs/program_test_find_face.json
@@ -1 +1 @@
-{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><variables><variable type=\"\" id=\"G`ooSD^IjFl@q`VRXz`M\">face</variable><variable type=\"\" id=\"JU]w:x,u6R_]KGB{:XP:\">face_x</variable><variable type=\"\" id=\"YdZ|nz8=@UwR53L{5(Te\">face_size</variable></variables><block type=\"controls_whileUntil\" id=\"CoP0+krwBNk-W]8d*90A\" x=\"32\" y=\"26\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"fi_0^7$bm]/5xQ|Zpg=(\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\" id=\"f$?dr|af|Ac.xwmgSA%J\"><field name=\"VAR\" id=\"G`ooSD^IjFl@q`VRXz`M\" variabletype=\"\">face</field><value name=\"VALUE\"><block type=\"coderbot_adv_findFace\" id=\"H`#u_,_?;x,73RZ}}gR{\"><field name=\"RETVAL\">ALL</field></block></value><next><block type=\"variables_set\" id=\"{o9)u+=V]D]h(5aygd~M\"><field name=\"VAR\" id=\"JU]w:x,u6R_]KGB{:XP:\" variabletype=\"\">face_x</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\"dAqQ+k+Lsv!1N7zj4(4^\"><mutation statement=\"false\" at=\"true\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FROM_START</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"65Q5x52oC~jam{#uHnFe\"><field name=\"VAR\" id=\"G`ooSD^IjFl@q`VRXz`M\" variabletype=\"\">face</field></block></value><value name=\"AT\"><block type=\"math_number\" id=\"^aod?Rq):AVnd02Or|!L\"><field name=\"NUM\">1</field></block></value></block></value><next><block type=\"variables_set\" id=\"I{^(8GT:UL9{7jdNlg[w\"><field name=\"VAR\" id=\"YdZ|nz8=@UwR53L{5(Te\" variabletype=\"\">face_size</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\"2}fQ04Qws48,xb!?z1pW\"><mutation statement=\"false\" at=\"true\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FROM_START</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"hmZQMGjZ94)AhuZ6JUYa\"><field name=\"VAR\" id=\"G`ooSD^IjFl@q`VRXz`M\" variabletype=\"\">face</field></block></value><value name=\"AT\"><block type=\"math_number\" id=\"=LbR3.00CDs*hnk()Y^-\"><field name=\"NUM\">2</field></block></value></block></value><next><block type=\"text_print\" id=\"O}.LG0(E@nzN,p;l%v2{\"><value name=\"TEXT\"><block type=\"text_join\" id=\"mRJtt8foB.;Gpq0fM,4D\"><mutation items=\"2\"></mutation><value name=\"ADD0\"><block type=\"text\" id=\",=O:[=q5SBb`1$S,-R,:\"><field name=\"TEXT\">face: </field></block></value><value name=\"ADD1\"><block type=\"variables_get\" id=\"UEwJl:.puwUq)R!zo@Z7\"><field name=\"VAR\" id=\"JU]w:x,u6R_]KGB{:XP:\" variabletype=\"\">face_x</field></block></value></block></value><next><block type=\"controls_if\" id=\"9tGk|M6u455Nu1(SI}{K\"><value name=\"IF0\"><block type=\"variables_get\" id=\"9}[hrA3rOFo0n+BAsX-f\"><field name=\"VAR\" id=\"JU]w:x,u6R_]KGB{:XP:\" variabletype=\"\">face_x</field></block></value><statement name=\"DO0\"><block type=\"controls_if\" id=\"1-%~}MODhI#*$?^aB_tS\"><mutation elseif=\"1\" else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"`rz$_58rWb#ufStSd](T\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"variables_get\" id=\"O}zML^tGL7t3C*mWsEMo\"><field name=\"VAR\" id=\"JU]w:x,u6R_]KGB{:XP:\" variabletype=\"\">face_x</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"gdx{O}:M_*b|FpvgG_~h\"><field name=\"NUM\">-10</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\" id=\"@[^uw~TU^Vti#)6HZC?K\"><field name=\"ACTION\">LEFT</field><value name=\"SPEED\"><block type=\"math_number\" id=\"vt6%MV@vkT*tB]%2:7vQ\"><field name=\"NUM\">80</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"d3[F3QtIG#jb=1IPOem)\"><field name=\"NUM\">0.1</field></block></value></block></statement><value name=\"IF1\"><block type=\"logic_compare\" id=\"/zef{/F+:n[eI1@+MIKR\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"variables_get\" id=\"dh8opiswQU13wjT![yV[\"><field name=\"VAR\" id=\"JU]w:x,u6R_]KGB{:XP:\" variabletype=\"\">face_x</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"2RVlzW2}AG#ywuHP6N=+\"><field name=\"NUM\">10</field></block></value></block></value><statement name=\"DO1\"><block type=\"coderbot_adv_move\" id=\"4`Z7%j+MV5(5,BM!RRBA\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_number\" id=\"v`ab`#qs7J5]2XaOp]s[\"><field name=\"NUM\">80</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"A_y%A@DITmnWACnr0]zK\"><field name=\"NUM\">0.1</field></block></value></block></statement><statement name=\"ELSE\"><block type=\"coderbot_adv_stop\" id=\"B/$XZ_Giuo_h#Q?JM{w}\"></block></statement></block></statement></block></next></block></next></block></next></block></next></block></statement></block></xml>", "code": "face = None\nface_x = None\nface_size = None\n\n\nwhile True:\n get_prog_eng().check_end()\n face = get_cam().find_face()\n face_x = face[0]\n face_size = face[1]\n get_cam().set_text(str('face: ') + str(face_x))\n if face_x:\n if face_x < -10:\n get_bot().left(speed=80, elapse=0.1)\n elif face_x > 10:\n get_bot().right(speed=80, elapse=0.1)\n else:\n get_bot().stop()\n", "name": "test_find_face"}
\ No newline at end of file
+{"id": "504eb5f8-650f-4385-8cb4-d30ea09c9ef7", "dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><variables><variable type=\"\" id=\"G`ooSD^IjFl@q`VRXz`M\">face</variable><variable type=\"\" id=\"JU]w:x,u6R_]KGB{:XP:\">face_x</variable><variable type=\"\" id=\"YdZ|nz8=@UwR53L{5(Te\">face_size</variable></variables><block type=\"controls_whileUntil\" id=\"CoP0+krwBNk-W]8d*90A\" x=\"32\" y=\"26\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"fi_0^7$bm]/5xQ|Zpg=(\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\" id=\"f$?dr|af|Ac.xwmgSA%J\"><field name=\"VAR\" id=\"G`ooSD^IjFl@q`VRXz`M\" variabletype=\"\">face</field><value name=\"VALUE\"><block type=\"coderbot_adv_findFace\" id=\"H`#u_,_?;x,73RZ}}gR{\"><field name=\"RETVAL\">ALL</field></block></value><next><block type=\"variables_set\" id=\"{o9)u+=V]D]h(5aygd~M\"><field name=\"VAR\" id=\"JU]w:x,u6R_]KGB{:XP:\" variabletype=\"\">face_x</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\"dAqQ+k+Lsv!1N7zj4(4^\"><mutation statement=\"false\" at=\"true\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FROM_START</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"65Q5x52oC~jam{#uHnFe\"><field name=\"VAR\" id=\"G`ooSD^IjFl@q`VRXz`M\" variabletype=\"\">face</field></block></value><value name=\"AT\"><block type=\"math_number\" id=\"^aod?Rq):AVnd02Or|!L\"><field name=\"NUM\">1</field></block></value></block></value><next><block type=\"variables_set\" id=\"I{^(8GT:UL9{7jdNlg[w\"><field name=\"VAR\" id=\"YdZ|nz8=@UwR53L{5(Te\" variabletype=\"\">face_size</field><value name=\"VALUE\"><block type=\"lists_getIndex\" id=\"2}fQ04Qws48,xb!?z1pW\"><mutation statement=\"false\" at=\"true\"></mutation><field name=\"MODE\">GET</field><field name=\"WHERE\">FROM_START</field><value name=\"VALUE\"><block type=\"variables_get\" id=\"hmZQMGjZ94)AhuZ6JUYa\"><field name=\"VAR\" id=\"G`ooSD^IjFl@q`VRXz`M\" variabletype=\"\">face</field></block></value><value name=\"AT\"><block type=\"math_number\" id=\"=LbR3.00CDs*hnk()Y^-\"><field name=\"NUM\">2</field></block></value></block></value><next><block type=\"text_print\" id=\"O}.LG0(E@nzN,p;l%v2{\"><value name=\"TEXT\"><block type=\"text_join\" id=\"mRJtt8foB.;Gpq0fM,4D\"><mutation items=\"2\"></mutation><value name=\"ADD0\"><block type=\"text\" id=\",=O:[=q5SBb`1$S,-R,:\"><field name=\"TEXT\">face: </field></block></value><value name=\"ADD1\"><block type=\"variables_get\" id=\"UEwJl:.puwUq)R!zo@Z7\"><field name=\"VAR\" id=\"JU]w:x,u6R_]KGB{:XP:\" variabletype=\"\">face_x</field></block></value></block></value><next><block type=\"controls_if\" id=\"9tGk|M6u455Nu1(SI}{K\"><value name=\"IF0\"><block type=\"variables_get\" id=\"9}[hrA3rOFo0n+BAsX-f\"><field name=\"VAR\" id=\"JU]w:x,u6R_]KGB{:XP:\" variabletype=\"\">face_x</field></block></value><statement name=\"DO0\"><block type=\"controls_if\" id=\"1-%~}MODhI#*$?^aB_tS\"><mutation elseif=\"1\" else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_compare\" id=\"`rz$_58rWb#ufStSd](T\"><field name=\"OP\">LT</field><value name=\"A\"><block type=\"variables_get\" id=\"O}zML^tGL7t3C*mWsEMo\"><field name=\"VAR\" id=\"JU]w:x,u6R_]KGB{:XP:\" variabletype=\"\">face_x</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"gdx{O}:M_*b|FpvgG_~h\"><field name=\"NUM\">-10</field></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\" id=\"@[^uw~TU^Vti#)6HZC?K\"><field name=\"ACTION\">LEFT</field><value name=\"SPEED\"><block type=\"math_number\" id=\"vt6%MV@vkT*tB]%2:7vQ\"><field name=\"NUM\">80</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"d3[F3QtIG#jb=1IPOem)\"><field name=\"NUM\">0.1</field></block></value></block></statement><value name=\"IF1\"><block type=\"logic_compare\" id=\"/zef{/F+:n[eI1@+MIKR\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"variables_get\" id=\"dh8opiswQU13wjT![yV[\"><field name=\"VAR\" id=\"JU]w:x,u6R_]KGB{:XP:\" variabletype=\"\">face_x</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"2RVlzW2}AG#ywuHP6N=+\"><field name=\"NUM\">10</field></block></value></block></value><statement name=\"DO1\"><block type=\"coderbot_adv_move\" id=\"4`Z7%j+MV5(5,BM!RRBA\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_number\" id=\"v`ab`#qs7J5]2XaOp]s[\"><field name=\"NUM\">80</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"A_y%A@DITmnWACnr0]zK\"><field name=\"NUM\">0.1</field></block></value></block></statement><statement name=\"ELSE\"><block type=\"coderbot_adv_stop\" id=\"B/$XZ_Giuo_h#Q?JM{w}\"></block></statement></block></statement></block></next></block></next></block></next></block></next></block></statement></block></xml>", "code": "face = None\nface_x = None\nface_size = None\n\n\nwhile True:\n get_prog_eng().check_end()\n face = get_cam().find_face()\n face_x = face[0]\n face_size = face[1]\n get_cam().set_text(str('face: ') + str(face_x))\n if face_x:\n if face_x < -10:\n get_bot().left(speed=80, elapse=0.1)\n elif face_x > 10:\n get_bot().right(speed=80, elapse=0.1)\n else:\n get_bot().stop()\n", "name": "test_find_face"}
\ No newline at end of file
diff --git a/defaults/programs/program_test_find_path_ahead.json b/defaults/programs/program_test_find_path_ahead.json
index 703325e2..8875ed39 100644
--- a/defaults/programs/program_test_find_path_ahead.json
+++ b/defaults/programs/program_test_find_path_ahead.json
@@ -1 +1 @@
-{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><variables><variable type=\"\" id=\",46fU~j08oojjbw,kof`\">spazio_libero</variable></variables><block type=\"controls_whileUntil\" id=\"18\" x=\"-6\" y=\"95\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"8\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\" id=\"+.ndl3CthRQ~=B/JKR^u\"><field name=\"VAR\" id=\",46fU~j08oojjbw,kof`\" variabletype=\"\">spazio_libero</field><value name=\"VALUE\"><block type=\"coderbot_adv_pathAhead\" id=\"43\"></block></value><next><block type=\"text_print\" id=\"34\"><value name=\"TEXT\"><block type=\"variables_get\" id=\"HvuukI#y0|2p~0G!J^1,\"><field name=\"VAR\" id=\",46fU~j08oojjbw,kof`\" variabletype=\"\">spazio_libero</field></block></value><next><block type=\"controls_if\" id=\"j2kyA19rSa;+oDM_|TW1\"><mutation else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_operation\" id=\".h3ecm+6-QkNKadH^K^x\"><field name=\"OP\">AND</field><value name=\"A\"><block type=\"logic_compare\" id=\"?y*$N(f@|9rhe.mOI}Tw\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"variables_get\" id=\"j(v,2aQSE^A_2Um!%r%j\"><field name=\"VAR\" id=\",46fU~j08oojjbw,kof`\" variabletype=\"\">spazio_libero</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"]@VPRw![OoT^Q6^@}+W]\"><field name=\"NUM\">30</field></block></value></block></value><value name=\"B\"><block type=\"logic_compare\" id=\"!E.x/E#B,Eqe=[6!!UpQ\"><field name=\"OP\">NEQ</field><value name=\"A\"><block type=\"variables_get\" id=\"1|EJ6P/9-k+=y!xD!n59\"><field name=\"VAR\" id=\",46fU~j08oojjbw,kof`\" variabletype=\"\">spazio_libero</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"!3n*B?S(XK~u$1}#F:~N\"><field name=\"NUM\">60</field></block></value></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\" id=\"#SW!Qq8M:4),17-S5HXx\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_number\" id=\"ZIc[_OhSH1e.mz]:tL,?\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"-j(8o/#PiEQEY5L2zbT:\"><field name=\"NUM\">0.2</field></block></value></block></statement><statement name=\"ELSE\"><block type=\"coderbot_adv_move\" id=\"e#qON.)K9J9!}_W`xlWx\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_number\" id=\")C53Vd7c_sC*PsSn0VCM\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"E3zjXN1SRNL5~IQJ|aRQ\"><field name=\"NUM\">0.2</field></block></value></block></statement></block></next></block></next></block></statement></block></xml>", "code": "spazio_libero = None\n\n\nwhile True:\n get_prog_eng().check_end()\n spazio_libero = get_cam().path_ahead()\n get_cam().set_text(spazio_libero)\n if spazio_libero > 30 and spazio_libero != 60:\n get_bot().forward(speed=100, elapse=0.2)\n else:\n get_bot().right(speed=100, elapse=0.2)\n", "name": "test_find_path_ahead"}
\ No newline at end of file
+{"id": "ced77927-df6b-475a-b41e-d36f3976a2a0", "dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><variables><variable type=\"\" id=\",46fU~j08oojjbw,kof`\">spazio_libero</variable></variables><block type=\"controls_whileUntil\" id=\"18\" x=\"-6\" y=\"95\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"8\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"variables_set\" id=\"+.ndl3CthRQ~=B/JKR^u\"><field name=\"VAR\" id=\",46fU~j08oojjbw,kof`\" variabletype=\"\">spazio_libero</field><value name=\"VALUE\"><block type=\"coderbot_adv_pathAhead\" id=\"43\"></block></value><next><block type=\"text_print\" id=\"34\"><value name=\"TEXT\"><block type=\"variables_get\" id=\"HvuukI#y0|2p~0G!J^1,\"><field name=\"VAR\" id=\",46fU~j08oojjbw,kof`\" variabletype=\"\">spazio_libero</field></block></value><next><block type=\"controls_if\" id=\"j2kyA19rSa;+oDM_|TW1\"><mutation else=\"1\"></mutation><value name=\"IF0\"><block type=\"logic_operation\" id=\".h3ecm+6-QkNKadH^K^x\"><field name=\"OP\">AND</field><value name=\"A\"><block type=\"logic_compare\" id=\"?y*$N(f@|9rhe.mOI}Tw\"><field name=\"OP\">GT</field><value name=\"A\"><block type=\"variables_get\" id=\"j(v,2aQSE^A_2Um!%r%j\"><field name=\"VAR\" id=\",46fU~j08oojjbw,kof`\" variabletype=\"\">spazio_libero</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"]@VPRw![OoT^Q6^@}+W]\"><field name=\"NUM\">30</field></block></value></block></value><value name=\"B\"><block type=\"logic_compare\" id=\"!E.x/E#B,Eqe=[6!!UpQ\"><field name=\"OP\">NEQ</field><value name=\"A\"><block type=\"variables_get\" id=\"1|EJ6P/9-k+=y!xD!n59\"><field name=\"VAR\" id=\",46fU~j08oojjbw,kof`\" variabletype=\"\">spazio_libero</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"!3n*B?S(XK~u$1}#F:~N\"><field name=\"NUM\">60</field></block></value></block></value></block></value><statement name=\"DO0\"><block type=\"coderbot_adv_move\" id=\"#SW!Qq8M:4),17-S5HXx\"><field name=\"ACTION\">FORWARD</field><value name=\"SPEED\"><block type=\"math_number\" id=\"ZIc[_OhSH1e.mz]:tL,?\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"-j(8o/#PiEQEY5L2zbT:\"><field name=\"NUM\">0.2</field></block></value></block></statement><statement name=\"ELSE\"><block type=\"coderbot_adv_move\" id=\"e#qON.)K9J9!}_W`xlWx\"><field name=\"ACTION\">RIGHT</field><value name=\"SPEED\"><block type=\"math_number\" id=\")C53Vd7c_sC*PsSn0VCM\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"E3zjXN1SRNL5~IQJ|aRQ\"><field name=\"NUM\">0.2</field></block></value></block></statement></block></next></block></next></block></statement></block></xml>", "code": "spazio_libero = None\n\n\nwhile True:\n get_prog_eng().check_end()\n spazio_libero = get_cam().path_ahead()\n get_cam().set_text(spazio_libero)\n if spazio_libero > 30 and spazio_libero != 60:\n get_bot().forward(speed=100, elapse=0.2)\n else:\n get_bot().right(speed=100, elapse=0.2)\n", "name": "test_find_path_ahead"}
\ No newline at end of file
diff --git a/defaults/programs/program_test_img_average.json b/defaults/programs/program_test_img_average.json
index 0112e6cb..08e30d5b 100644
--- a/defaults/programs/program_test_img_average.json
+++ b/defaults/programs/program_test_img_average.json
@@ -1 +1 @@
-{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><block type=\"controls_whileUntil\" x=\"9\" y=\"103\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"text_print\"><value name=\"TEXT\"><block type=\"coderbot_cam_average\"><field name=\"RETVAL\">V</field></block></value></block></statement></block></xml>", "code": "while True:\n get_prog_eng().check_end()\n get_cam().set_text(get_cam().get_average()[2])\n", "name": "test_img_average"}
\ No newline at end of file
+{"id": "4c448688-2d4f-424c-ac95-85417f30a447", "dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><block type=\"controls_whileUntil\" x=\"9\" y=\"103\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"text_print\"><value name=\"TEXT\"><block type=\"coderbot_cam_average\"><field name=\"RETVAL\">V</field></block></value></block></statement></block></xml>", "code": "while True:\n get_prog_eng().check_end()\n get_cam().set_text(get_cam().get_average()[2])\n", "name": "test_img_average"}
\ No newline at end of file
diff --git a/defaults/programs/program_test_input.json b/defaults/programs/program_test_input.json
index 781dc25a..15fa7f9f 100644
--- a/defaults/programs/program_test_input.json
+++ b/defaults/programs/program_test_input.json
@@ -1 +1 @@
-{"name": "test_input", "dom_code": "<xml xmlns=\"https://developers.google.com/blockly/xml\"><block type=\"controls_whileUntil\" id=\"Eg+_}I*|KDj2r:7;lzVu\" x=\"16\" y=\"109\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"vjj7Y31uCw@dAO#:o!z=\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"text_print\" id=\"|Oml,Wc+N7-.yv1S4tti\"><value name=\"TEXT\"><block type=\"text_join\" id=\"_:R_VIq+*$|i?`gYssJ/\"><mutation items=\"6\"></mutation><value name=\"ADD0\"><block type=\"text\" id=\"]Ohyg]}FmQVhZ6z;]H59\"><field name=\"TEXT\">analog 1: </field></block></value><value name=\"ADD1\"><block type=\"coderbot_atmega_get_input\" id=\"c-@JnZzRduznZ!.oS2C4\"><field name=\"INPUT\">0</field></block></value><value name=\"ADD2\"><block type=\"text\" id=\"vJK8H/$_C*KFm)w=^mc!\"><field name=\"TEXT\"> analog 2: </field></block></value><value name=\"ADD3\"><block type=\"coderbot_atmega_get_input\" id=\"!y:zHIM%S^5yuAl@{d*x\"><field name=\"INPUT\">1</field></block></value><value name=\"ADD4\"><block type=\"text\" id=\"qB~`8GzOl^}ynUI1ycwT\"><field name=\"TEXT\"> digital 1: </field></block></value><value name=\"ADD5\"><block type=\"coderbot_atmega_get_input\" id=\"tVz][Ed:A#XFy]shvSRk\"><field name=\"INPUT\">2</field></block></value></block></value></block></statement></block></xml>", "code": "while True:\n get_prog_eng().check_end()\n get_cam().set_text(''.join([str(x) for x in ['analog 1: ', get_atmega().get_input(0), ' analog 2: ', get_atmega().get_input(1), ' digital 1: ', get_atmega().get_input(2)]]))\n"}
\ No newline at end of file
+{"id": "c4cec8dc-f0e9-4aa0-ba2d-e8eb368a0f88", "name": "test_input", "dom_code": "<xml xmlns=\"https://developers.google.com/blockly/xml\"><block type=\"controls_whileUntil\" id=\"Eg+_}I*|KDj2r:7;lzVu\" x=\"16\" y=\"109\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"vjj7Y31uCw@dAO#:o!z=\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"text_print\" id=\"|Oml,Wc+N7-.yv1S4tti\"><value name=\"TEXT\"><block type=\"text_join\" id=\"_:R_VIq+*$|i?`gYssJ/\"><mutation items=\"6\"></mutation><value name=\"ADD0\"><block type=\"text\" id=\"]Ohyg]}FmQVhZ6z;]H59\"><field name=\"TEXT\">analog 1: </field></block></value><value name=\"ADD1\"><block type=\"coderbot_atmega_get_input\" id=\"c-@JnZzRduznZ!.oS2C4\"><field name=\"INPUT\">0</field></block></value><value name=\"ADD2\"><block type=\"text\" id=\"vJK8H/$_C*KFm)w=^mc!\"><field name=\"TEXT\"> analog 2: </field></block></value><value name=\"ADD3\"><block type=\"coderbot_atmega_get_input\" id=\"!y:zHIM%S^5yuAl@{d*x\"><field name=\"INPUT\">1</field></block></value><value name=\"ADD4\"><block type=\"text\" id=\"qB~`8GzOl^}ynUI1ycwT\"><field name=\"TEXT\"> digital 1: </field></block></value><value name=\"ADD5\"><block type=\"coderbot_atmega_get_input\" id=\"tVz][Ed:A#XFy]shvSRk\"><field name=\"INPUT\">2</field></block></value></block></value></block></statement></block></xml>", "code": "while True:\n get_prog_eng().check_end()\n get_cam().set_text(''.join([str(x) for x in ['analog 1: ', get_atmega().get_input(0), ' analog 2: ', get_atmega().get_input(1), ' digital 1: ', get_atmega().get_input(2)]]))\n"}
\ No newline at end of file
diff --git a/defaults/programs/program_test_led.json b/defaults/programs/program_test_led.json
index 7246e80d..58f1534c 100644
--- a/defaults/programs/program_test_led.json
+++ b/defaults/programs/program_test_led.json
@@ -1 +1 @@
-{"name": "test_led", "dom_code": "<xml xmlns=\"https://developers.google.com/blockly/xml\"><variables><variable id=\"/xw.j?2UDr3u^6ElAbfw\">leds</variable><variable id=\"mV|1?_`t].w9ldDjB#Pd\">i</variable><variable id=\".^%KgNcWO{?uvr(igb/M\">c</variable></variables><block type=\"variables_set\" id=\"`7Sm1AK0q1yrCf3yj1jY\" x=\"83\" y=\"6\"><field name=\"VAR\" id=\"/xw.j?2UDr3u^6ElAbfw\">leds</field><value name=\"VALUE\"><block type=\"math_number\" id=\"~XqK1jXL`MkyR[:R*A^Z\"><field name=\"NUM\">60</field></block></value><next><block type=\"controls_repeat_ext\" id=\";niBg8v_6u=JPSvZ{Rq~\"><value name=\"TIMES\"><block type=\"math_number\" id=\"LbXC!xr+QmP1{y?aQKgh\"><field name=\"NUM\">3</field></block></value><statement name=\"DO\"><block type=\"coderbot_atmega_set_led\" id=\"U4M/5!Z8)ydVSl6!KGfl\"><value name=\"BEGIN\"><block type=\"math_number\" id=\"}+N@zF-K}std2rBA.rcB\"><field name=\"NUM\">1</field></block></value><value name=\"END\"><block type=\"variables_get\" id=\"ug]D+ea8)#!5hvSs*L$U\"><field name=\"VAR\" id=\"/xw.j?2UDr3u^6ElAbfw\">leds</field></block></value><value name=\"RED\"><block type=\"math_number\" id=\"n`wi],+ar)H__{76(8aO\"><field name=\"NUM\">0</field></block></value><value name=\"GREEN\"><block type=\"math_number\" id=\"aXK={ZR{EA-S~kZ4r2x)\"><field name=\"NUM\">0</field></block></value><value name=\"BLUE\"><block type=\"math_number\" id=\"H5Av._zz|gP;e)uQnw7D\"><field name=\"NUM\">0</field></block></value><next><block type=\"controls_for\" id=\"(HLoJr|poNT!f(*wl5Gt\"><field name=\"VAR\" id=\"mV|1?_`t].w9ldDjB#Pd\">i</field><value name=\"FROM\"><block type=\"math_number\" id=\"q%I+x1$v$Hb9qjS^gv|X\"><field name=\"NUM\">1</field></block></value><value name=\"TO\"><block type=\"variables_get\" id=\"mSG+|MQ6P8$;Des`tSSz\"><field name=\"VAR\" id=\"/xw.j?2UDr3u^6ElAbfw\">leds</field></block></value><value name=\"BY\"><block type=\"math_number\" id=\"L,d:{%h6_[vN@,jN/wi2\"><field name=\"NUM\">1</field></block></value><statement name=\"DO\"><block type=\"coderbot_atmega_set_led\" id=\",(rL?k}`#UYM@CY`5ZOF\"><value name=\"BEGIN\"><block type=\"math_number\" id=\"Ql5,)ZkO{_chavvTnCn6\"><field name=\"NUM\">1</field></block></value><value name=\"END\"><block type=\"math_arithmetic\" id=\"TSN}K9t%.206Lp03*^#u\"><field name=\"OP\">MINUS</field><value name=\"A\"><block type=\"variables_get\" id=\"%|yMnq+m;GQhyw2I3(7Q\"><field name=\"VAR\" id=\"mV|1?_`t].w9ldDjB#Pd\">i</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"E=ifR{(UUuG+j*hsDx8S\"><field name=\"NUM\">1</field></block></value></block></value><value name=\"RED\"><block type=\"math_number\" id=\"@yqVmOuAeq~eAL*N|q+#\"><field name=\"NUM\">0</field></block></value><value name=\"GREEN\"><block type=\"math_number\" id=\"@YVgd/x:B#YxVjxS:,T@\"><field name=\"NUM\">0</field></block></value><value name=\"BLUE\"><block type=\"math_number\" id=\"k5+jbhcY0MWc_z2@03{n\"><field name=\"NUM\">0</field></block></value><next><block type=\"coderbot_atmega_set_led\" id=\"xu/0IEI)Ts8=FqPFqVn)\"><value name=\"BEGIN\"><block type=\"math_arithmetic\" id=\")Rx_thG1*MJwhu5a`GCX\"><field name=\"OP\">ADD</field><value name=\"A\"><block type=\"variables_get\" id=\"i|S#;A}wazp[.tZonQ;g\"><field name=\"VAR\" id=\"mV|1?_`t].w9ldDjB#Pd\">i</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"7t{7y%u?Mz?k]GO$1SA9\"><field name=\"NUM\">5</field></block></value></block></value><value name=\"END\"><block type=\"variables_get\" id=\"X*ZrOoMNe%xtt*yp3#|a\"><field name=\"VAR\" id=\"/xw.j?2UDr3u^6ElAbfw\">leds</field></block></value><value name=\"RED\"><block type=\"math_number\" id=\"3]+P|Rq;Si5wHGK6/@^3\"><field name=\"NUM\">0</field></block></value><value name=\"GREEN\"><block type=\"math_number\" id=\"q#!lPC%rrlw~8O*O:sz^\"><field name=\"NUM\">0</field></block></value><value name=\"BLUE\"><block type=\"math_number\" id=\"l!Tzd:G5fPm=3Kax^5M0\"><field name=\"NUM\">0</field></block></value><next><block type=\"controls_for\" id=\"E`+DR_wKgE9^3DO}G8ew\"><field name=\"VAR\" id=\".^%KgNcWO{?uvr(igb/M\">c</field><value name=\"FROM\"><block type=\"math_number\" id=\"_q2GlJkegi#GR|dez;A!\"><field name=\"NUM\">1</field></block></value><value name=\"TO\"><block type=\"math_number\" id=\"x/aQ`cU1Ks(6=yJu{2^k\"><field name=\"NUM\">100</field></block></value><value name=\"BY\"><block type=\"math_number\" id=\")/gFUFR1opq/8HgCVNws\"><field name=\"NUM\">5</field></block></value><statement name=\"DO\"><block type=\"coderbot_atmega_set_led\" id=\"chy~IyYrzHH*[t+@jnZ#\"><value name=\"BEGIN\"><block type=\"variables_get\" id=\"HtnTmdSQ[/||-yHV!Li.\"><field name=\"VAR\" id=\"mV|1?_`t].w9ldDjB#Pd\">i</field></block></value><value name=\"END\"><block type=\"math_arithmetic\" id=\"Y#AHd_Be05gTr_XeqTO:\"><field name=\"OP\">ADD</field><value name=\"A\"><block type=\"variables_get\" id=\"$y/*rz!oS[8Z8-H2#Iuk\"><field name=\"VAR\" id=\"mV|1?_`t].w9ldDjB#Pd\">i</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"j*iHZ-T$?yn%m-FJCY{c\"><field name=\"NUM\">5</field></block></value></block></value><value name=\"RED\"><block type=\"math_arithmetic\" id=\";kBE!f4tZqXL^tuWv7zr\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"variables_get\" id=\"deHK(hlFV.KR=uZg9z;w\"><field name=\"VAR\" id=\".^%KgNcWO{?uvr(igb/M\">c</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"46z)lg$93j{/jj.Co{^(\"><field name=\"NUM\">0</field></block></value></block></value><value name=\"GREEN\"><block type=\"math_arithmetic\" id=\";Esa/)mXftItk:dsgx2H\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"variables_get\" id=\"@:64T_Ryd_XG~BF|-3l}\"><field name=\"VAR\" id=\".^%KgNcWO{?uvr(igb/M\">c</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"`0hSm^wEqrW:-mM%CjiZ\"><field name=\"NUM\">0</field></block></value></block></value><value name=\"BLUE\"><block type=\"math_arithmetic\" id=\"iUrI|HZnVrxre*:bpwtp\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"variables_get\" id=\"aKlo?CPZPeg]$~[L)y^h\"><field name=\"VAR\" id=\".^%KgNcWO{?uvr(igb/M\">c</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"f:`}o(Dz)Fp`fXC^GIN@\"><field name=\"NUM\">3</field></block></value></block></value></block></statement></block></next></block></next></block></statement><next><block type=\"coderbot_atmega_set_led\" id=\"|6n;D0.SJPHwfd2TTH1o\"><value name=\"BEGIN\"><block type=\"math_number\" id=\"`?=rb;gGH5)zvs{.0W[c\"><field name=\"NUM\">1</field></block></value><value name=\"END\"><block type=\"variables_get\" id=\"ri2K1wws76aIcZg@hC/I\"><field name=\"VAR\" id=\"/xw.j?2UDr3u^6ElAbfw\">leds</field></block></value><value name=\"RED\"><block type=\"math_number\" id=\"`T5m0oiNlt3kn34rWK#g\"><field name=\"NUM\">0</field></block></value><value name=\"GREEN\"><block type=\"math_number\" id=\"dEo{NKNG6@2_2neC|bXa\"><field name=\"NUM\">0</field></block></value><value name=\"BLUE\"><block type=\"math_number\" id=\"AvIT+M?iR;e05eB{r40_\"><field name=\"NUM\">0</field></block></value></block></next></block></next></block></statement></block></next></block></xml>", "code": "leds = None\ni = None\nc = None\n\ndef upRange(start, stop, step):\n while start <= stop:\n yield start\n start += abs(step)\n\ndef downRange(start, stop, step):\n while start >= stop:\n yield start\n start -= abs(step)\n\n\nleds = 60\nfor count in range(3):\n get_prog_eng().check_end()\n get_atmega().set_led(1, leds, 0, 0, 0)\n for i in (1 <= float(leds)) and upRange(1, float(leds), 1) or downRange(1, float(leds), 1):\n get_prog_eng().check_end()\n get_atmega().set_led(1, i - 1, 0, 0, 0)\n get_atmega().set_led(i + 5, leds, 0, 0, 0)\n for c in range(1, 101, 5):\n get_prog_eng().check_end()\n get_atmega().set_led(i, i + 5, c * 0, c * 0, c * 3)\n get_atmega().set_led(1, leds, 0, 0, 0)\n"}
\ No newline at end of file
+{"id": "4bf5a8a8-eb06-44aa-8450-e73b62e11f8c", "name": "test_led", "dom_code": "<xml xmlns=\"https://developers.google.com/blockly/xml\"><variables><variable id=\"/xw.j?2UDr3u^6ElAbfw\">leds</variable><variable id=\"mV|1?_`t].w9ldDjB#Pd\">i</variable><variable id=\".^%KgNcWO{?uvr(igb/M\">c</variable></variables><block type=\"variables_set\" id=\"`7Sm1AK0q1yrCf3yj1jY\" x=\"83\" y=\"6\"><field name=\"VAR\" id=\"/xw.j?2UDr3u^6ElAbfw\">leds</field><value name=\"VALUE\"><block type=\"math_number\" id=\"~XqK1jXL`MkyR[:R*A^Z\"><field name=\"NUM\">60</field></block></value><next><block type=\"controls_repeat_ext\" id=\";niBg8v_6u=JPSvZ{Rq~\"><value name=\"TIMES\"><block type=\"math_number\" id=\"LbXC!xr+QmP1{y?aQKgh\"><field name=\"NUM\">3</field></block></value><statement name=\"DO\"><block type=\"coderbot_atmega_set_led\" id=\"U4M/5!Z8)ydVSl6!KGfl\"><value name=\"BEGIN\"><block type=\"math_number\" id=\"}+N@zF-K}std2rBA.rcB\"><field name=\"NUM\">1</field></block></value><value name=\"END\"><block type=\"variables_get\" id=\"ug]D+ea8)#!5hvSs*L$U\"><field name=\"VAR\" id=\"/xw.j?2UDr3u^6ElAbfw\">leds</field></block></value><value name=\"RED\"><block type=\"math_number\" id=\"n`wi],+ar)H__{76(8aO\"><field name=\"NUM\">0</field></block></value><value name=\"GREEN\"><block type=\"math_number\" id=\"aXK={ZR{EA-S~kZ4r2x)\"><field name=\"NUM\">0</field></block></value><value name=\"BLUE\"><block type=\"math_number\" id=\"H5Av._zz|gP;e)uQnw7D\"><field name=\"NUM\">0</field></block></value><next><block type=\"controls_for\" id=\"(HLoJr|poNT!f(*wl5Gt\"><field name=\"VAR\" id=\"mV|1?_`t].w9ldDjB#Pd\">i</field><value name=\"FROM\"><block type=\"math_number\" id=\"q%I+x1$v$Hb9qjS^gv|X\"><field name=\"NUM\">1</field></block></value><value name=\"TO\"><block type=\"variables_get\" id=\"mSG+|MQ6P8$;Des`tSSz\"><field name=\"VAR\" id=\"/xw.j?2UDr3u^6ElAbfw\">leds</field></block></value><value name=\"BY\"><block type=\"math_number\" id=\"L,d:{%h6_[vN@,jN/wi2\"><field name=\"NUM\">1</field></block></value><statement name=\"DO\"><block type=\"coderbot_atmega_set_led\" id=\",(rL?k}`#UYM@CY`5ZOF\"><value name=\"BEGIN\"><block type=\"math_number\" id=\"Ql5,)ZkO{_chavvTnCn6\"><field name=\"NUM\">1</field></block></value><value name=\"END\"><block type=\"math_arithmetic\" id=\"TSN}K9t%.206Lp03*^#u\"><field name=\"OP\">MINUS</field><value name=\"A\"><block type=\"variables_get\" id=\"%|yMnq+m;GQhyw2I3(7Q\"><field name=\"VAR\" id=\"mV|1?_`t].w9ldDjB#Pd\">i</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"E=ifR{(UUuG+j*hsDx8S\"><field name=\"NUM\">1</field></block></value></block></value><value name=\"RED\"><block type=\"math_number\" id=\"@yqVmOuAeq~eAL*N|q+#\"><field name=\"NUM\">0</field></block></value><value name=\"GREEN\"><block type=\"math_number\" id=\"@YVgd/x:B#YxVjxS:,T@\"><field name=\"NUM\">0</field></block></value><value name=\"BLUE\"><block type=\"math_number\" id=\"k5+jbhcY0MWc_z2@03{n\"><field name=\"NUM\">0</field></block></value><next><block type=\"coderbot_atmega_set_led\" id=\"xu/0IEI)Ts8=FqPFqVn)\"><value name=\"BEGIN\"><block type=\"math_arithmetic\" id=\")Rx_thG1*MJwhu5a`GCX\"><field name=\"OP\">ADD</field><value name=\"A\"><block type=\"variables_get\" id=\"i|S#;A}wazp[.tZonQ;g\"><field name=\"VAR\" id=\"mV|1?_`t].w9ldDjB#Pd\">i</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"7t{7y%u?Mz?k]GO$1SA9\"><field name=\"NUM\">5</field></block></value></block></value><value name=\"END\"><block type=\"variables_get\" id=\"X*ZrOoMNe%xtt*yp3#|a\"><field name=\"VAR\" id=\"/xw.j?2UDr3u^6ElAbfw\">leds</field></block></value><value name=\"RED\"><block type=\"math_number\" id=\"3]+P|Rq;Si5wHGK6/@^3\"><field name=\"NUM\">0</field></block></value><value name=\"GREEN\"><block type=\"math_number\" id=\"q#!lPC%rrlw~8O*O:sz^\"><field name=\"NUM\">0</field></block></value><value name=\"BLUE\"><block type=\"math_number\" id=\"l!Tzd:G5fPm=3Kax^5M0\"><field name=\"NUM\">0</field></block></value><next><block type=\"controls_for\" id=\"E`+DR_wKgE9^3DO}G8ew\"><field name=\"VAR\" id=\".^%KgNcWO{?uvr(igb/M\">c</field><value name=\"FROM\"><block type=\"math_number\" id=\"_q2GlJkegi#GR|dez;A!\"><field name=\"NUM\">1</field></block></value><value name=\"TO\"><block type=\"math_number\" id=\"x/aQ`cU1Ks(6=yJu{2^k\"><field name=\"NUM\">100</field></block></value><value name=\"BY\"><block type=\"math_number\" id=\")/gFUFR1opq/8HgCVNws\"><field name=\"NUM\">5</field></block></value><statement name=\"DO\"><block type=\"coderbot_atmega_set_led\" id=\"chy~IyYrzHH*[t+@jnZ#\"><value name=\"BEGIN\"><block type=\"variables_get\" id=\"HtnTmdSQ[/||-yHV!Li.\"><field name=\"VAR\" id=\"mV|1?_`t].w9ldDjB#Pd\">i</field></block></value><value name=\"END\"><block type=\"math_arithmetic\" id=\"Y#AHd_Be05gTr_XeqTO:\"><field name=\"OP\">ADD</field><value name=\"A\"><block type=\"variables_get\" id=\"$y/*rz!oS[8Z8-H2#Iuk\"><field name=\"VAR\" id=\"mV|1?_`t].w9ldDjB#Pd\">i</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"j*iHZ-T$?yn%m-FJCY{c\"><field name=\"NUM\">5</field></block></value></block></value><value name=\"RED\"><block type=\"math_arithmetic\" id=\";kBE!f4tZqXL^tuWv7zr\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"variables_get\" id=\"deHK(hlFV.KR=uZg9z;w\"><field name=\"VAR\" id=\".^%KgNcWO{?uvr(igb/M\">c</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"46z)lg$93j{/jj.Co{^(\"><field name=\"NUM\">0</field></block></value></block></value><value name=\"GREEN\"><block type=\"math_arithmetic\" id=\";Esa/)mXftItk:dsgx2H\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"variables_get\" id=\"@:64T_Ryd_XG~BF|-3l}\"><field name=\"VAR\" id=\".^%KgNcWO{?uvr(igb/M\">c</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"`0hSm^wEqrW:-mM%CjiZ\"><field name=\"NUM\">0</field></block></value></block></value><value name=\"BLUE\"><block type=\"math_arithmetic\" id=\"iUrI|HZnVrxre*:bpwtp\"><field name=\"OP\">MULTIPLY</field><value name=\"A\"><block type=\"variables_get\" id=\"aKlo?CPZPeg]$~[L)y^h\"><field name=\"VAR\" id=\".^%KgNcWO{?uvr(igb/M\">c</field></block></value><value name=\"B\"><block type=\"math_number\" id=\"f:`}o(Dz)Fp`fXC^GIN@\"><field name=\"NUM\">3</field></block></value></block></value></block></statement></block></next></block></next></block></statement><next><block type=\"coderbot_atmega_set_led\" id=\"|6n;D0.SJPHwfd2TTH1o\"><value name=\"BEGIN\"><block type=\"math_number\" id=\"`?=rb;gGH5)zvs{.0W[c\"><field name=\"NUM\">1</field></block></value><value name=\"END\"><block type=\"variables_get\" id=\"ri2K1wws76aIcZg@hC/I\"><field name=\"VAR\" id=\"/xw.j?2UDr3u^6ElAbfw\">leds</field></block></value><value name=\"RED\"><block type=\"math_number\" id=\"`T5m0oiNlt3kn34rWK#g\"><field name=\"NUM\">0</field></block></value><value name=\"GREEN\"><block type=\"math_number\" id=\"dEo{NKNG6@2_2neC|bXa\"><field name=\"NUM\">0</field></block></value><value name=\"BLUE\"><block type=\"math_number\" id=\"AvIT+M?iR;e05eB{r40_\"><field name=\"NUM\">0</field></block></value></block></next></block></next></block></statement></block></next></block></xml>", "code": "leds = None\ni = None\nc = None\n\ndef upRange(start, stop, step):\n while start <= stop:\n yield start\n start += abs(step)\n\ndef downRange(start, stop, step):\n while start >= stop:\n yield start\n start -= abs(step)\n\n\nleds = 60\nfor count in range(3):\n get_prog_eng().check_end()\n get_atmega().set_led(1, leds, 0, 0, 0)\n for i in (1 <= float(leds)) and upRange(1, float(leds), 1) or downRange(1, float(leds), 1):\n get_prog_eng().check_end()\n get_atmega().set_led(1, i - 1, 0, 0, 0)\n get_atmega().set_led(i + 5, leds, 0, 0, 0)\n for c in range(1, 101, 5):\n get_prog_eng().check_end()\n get_atmega().set_led(i, i + 5, c * 0, c * 0, c * 3)\n get_atmega().set_led(1, leds, 0, 0, 0)\n"}
\ No newline at end of file
diff --git a/defaults/programs/program_test_music.json b/defaults/programs/program_test_music.json
index a3d0f3fd..053a21a2 100644
--- a/defaults/programs/program_test_music.json
+++ b/defaults/programs/program_test_music.json
@@ -1 +1 @@
-{"name": "test_music", "dom_code": "<xml xmlns=\"https://developers.google.com/blockly/xml\"><block type=\"coderbot_music_note_adv\" id=\"wU*%v+7?j^b/P`/r7T2F\" x=\"16\" y=\"10\"><field name=\"note\">C2</field><field name=\"alteration\">none</field><value name=\"instrument\"><block type=\"coderbot_music_animal_adv\" id=\"Wg_BML4JCSE`=xj{e*x*\"><field name=\"instrument\">dog</field></block></value><value name=\"duration\"><block type=\"math_number\" id=\"akIx85+Xsw2PO;LGAw}a\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_music_note_adv\" id=\"B;mmI4j-l0JYE%)uO$=D\"><field name=\"note\">D2</field><field name=\"alteration\">none</field><value name=\"instrument\"><block type=\"coderbot_music_animal_adv\" id=\"krvcf`|9E[Z9q_WI)W+e\"><field name=\"instrument\">cat</field></block></value><value name=\"duration\"><block type=\"math_number\" id=\"%Q}lUA{+eR%+aBeRKC#l\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_music_note_adv\" id=\"{I@8C@;.TlDXD?D4te,+\"><field name=\"note\">E2</field><field name=\"alteration\">none</field><value name=\"instrument\"><block type=\"coderbot_music_animal_adv\" id=\"m2|[h#nxCrS-VO^tM,x+\"><field name=\"instrument\">pig</field></block></value><value name=\"duration\"><block type=\"math_number\" id=\"~[?w~tla)S;mtb``/9M/\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_music_note_adv\" id=\"t3b)hP-vLRs0_~y(u1:V\"><field name=\"note\">F2</field><field name=\"alteration\">none</field><value name=\"instrument\"><block type=\"coderbot_music_animal_adv\" id=\"(Unfm?Z/=b+QnZ|qjf6$\"><field name=\"instrument\">elephant</field></block></value><value name=\"duration\"><block type=\"math_number\" id=\":OBb];9A5U+-9;NgBGjv\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_music_note_adv\" id=\"#=]%R]ZeZ1?qp[DsaT+j\"><field name=\"note\">G2</field><field name=\"alteration\">none</field><value name=\"instrument\"><block type=\"coderbot_music_animal_adv\" id=\"nZsm62Wm-t._?KcA[D2R\"><field name=\"instrument\">snake</field></block></value><value name=\"duration\"><block type=\"math_number\" id=\"X8zc{-8sT,J~c@g_OVX/\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_music_note_adv\" id=\"jV|.0Sl;j=Tkv;;jDIkZ\"><field name=\"note\">A2</field><field name=\"alteration\">none</field><value name=\"instrument\"><block type=\"coderbot_music_animal_adv\" id=\"RglHt%71{DY:qvN#2aAx\"><field name=\"instrument\">duck</field></block></value><value name=\"duration\"><block type=\"math_number\" id=\"Sz:E94T7m^9{g$^gMm6)\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_music_note_adv\" id=\"RNZ@6__`#uf6M{(L3PLW\"><field name=\"note\">B2</field><field name=\"alteration\">none</field><value name=\"instrument\"><block type=\"coderbot_music_animal_adv\" id=\"?!)J-A*mj_=;]QE_J]YY\"><field name=\"instrument\">cat</field></block></value><value name=\"duration\"><block type=\"math_number\" id=\"013?KE6*?/JWE94MRkp,\"><field name=\"NUM\">1</field></block></value></block></next></block></next></block></next></block></next></block></next></block></next></block></xml>", "code": "get_music().play_note(note=\"C2\", alteration=\"none\" ,instrument=\"dog\" ,duration=1)\nget_music().play_note(note=\"D2\", alteration=\"none\" ,instrument=\"cat\" ,duration=1)\nget_music().play_note(note=\"E2\", alteration=\"none\" ,instrument=\"pig\" ,duration=1)\nget_music().play_note(note=\"F2\", alteration=\"none\" ,instrument=\"elephant\" ,duration=1)\nget_music().play_note(note=\"G2\", alteration=\"none\" ,instrument=\"snake\" ,duration=1)\nget_music().play_note(note=\"A2\", alteration=\"none\" ,instrument=\"duck\" ,duration=1)\nget_music().play_note(note=\"B2\", alteration=\"none\" ,instrument=\"cat\" ,duration=1)\n"}
\ No newline at end of file
+{"id": "8281a5f5-f9a4-4128-bd3d-bef41fb2c30b", "name": "test_music", "dom_code": "<xml xmlns=\"https://developers.google.com/blockly/xml\"><block type=\"coderbot_music_note_adv\" id=\"wU*%v+7?j^b/P`/r7T2F\" x=\"16\" y=\"10\"><field name=\"note\">C2</field><field name=\"alteration\">none</field><value name=\"instrument\"><block type=\"coderbot_music_animal_adv\" id=\"Wg_BML4JCSE`=xj{e*x*\"><field name=\"instrument\">dog</field></block></value><value name=\"duration\"><block type=\"math_number\" id=\"akIx85+Xsw2PO;LGAw}a\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_music_note_adv\" id=\"B;mmI4j-l0JYE%)uO$=D\"><field name=\"note\">D2</field><field name=\"alteration\">none</field><value name=\"instrument\"><block type=\"coderbot_music_animal_adv\" id=\"krvcf`|9E[Z9q_WI)W+e\"><field name=\"instrument\">cat</field></block></value><value name=\"duration\"><block type=\"math_number\" id=\"%Q}lUA{+eR%+aBeRKC#l\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_music_note_adv\" id=\"{I@8C@;.TlDXD?D4te,+\"><field name=\"note\">E2</field><field name=\"alteration\">none</field><value name=\"instrument\"><block type=\"coderbot_music_animal_adv\" id=\"m2|[h#nxCrS-VO^tM,x+\"><field name=\"instrument\">pig</field></block></value><value name=\"duration\"><block type=\"math_number\" id=\"~[?w~tla)S;mtb``/9M/\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_music_note_adv\" id=\"t3b)hP-vLRs0_~y(u1:V\"><field name=\"note\">F2</field><field name=\"alteration\">none</field><value name=\"instrument\"><block type=\"coderbot_music_animal_adv\" id=\"(Unfm?Z/=b+QnZ|qjf6$\"><field name=\"instrument\">elephant</field></block></value><value name=\"duration\"><block type=\"math_number\" id=\":OBb];9A5U+-9;NgBGjv\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_music_note_adv\" id=\"#=]%R]ZeZ1?qp[DsaT+j\"><field name=\"note\">G2</field><field name=\"alteration\">none</field><value name=\"instrument\"><block type=\"coderbot_music_animal_adv\" id=\"nZsm62Wm-t._?KcA[D2R\"><field name=\"instrument\">snake</field></block></value><value name=\"duration\"><block type=\"math_number\" id=\"X8zc{-8sT,J~c@g_OVX/\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_music_note_adv\" id=\"jV|.0Sl;j=Tkv;;jDIkZ\"><field name=\"note\">A2</field><field name=\"alteration\">none</field><value name=\"instrument\"><block type=\"coderbot_music_animal_adv\" id=\"RglHt%71{DY:qvN#2aAx\"><field name=\"instrument\">duck</field></block></value><value name=\"duration\"><block type=\"math_number\" id=\"Sz:E94T7m^9{g$^gMm6)\"><field name=\"NUM\">1</field></block></value><next><block type=\"coderbot_music_note_adv\" id=\"RNZ@6__`#uf6M{(L3PLW\"><field name=\"note\">B2</field><field name=\"alteration\">none</field><value name=\"instrument\"><block type=\"coderbot_music_animal_adv\" id=\"?!)J-A*mj_=;]QE_J]YY\"><field name=\"instrument\">cat</field></block></value><value name=\"duration\"><block type=\"math_number\" id=\"013?KE6*?/JWE94MRkp,\"><field name=\"NUM\">1</field></block></value></block></next></block></next></block></next></block></next></block></next></block></next></block></xml>", "code": "get_music().play_note(note=\"C2\", alteration=\"none\" ,instrument=\"dog\" ,duration=1)\nget_music().play_note(note=\"D2\", alteration=\"none\" ,instrument=\"cat\" ,duration=1)\nget_music().play_note(note=\"E2\", alteration=\"none\" ,instrument=\"pig\" ,duration=1)\nget_music().play_note(note=\"F2\", alteration=\"none\" ,instrument=\"elephant\" ,duration=1)\nget_music().play_note(note=\"G2\", alteration=\"none\" ,instrument=\"snake\" ,duration=1)\nget_music().play_note(note=\"A2\", alteration=\"none\" ,instrument=\"duck\" ,duration=1)\nget_music().play_note(note=\"B2\", alteration=\"none\" ,instrument=\"cat\" ,duration=1)\n"}
\ No newline at end of file
diff --git a/defaults/programs/program_test_output.json b/defaults/programs/program_test_output.json
index dbd31e04..1fcb8a4a 100644
--- a/defaults/programs/program_test_output.json
+++ b/defaults/programs/program_test_output.json
@@ -1 +1 @@
-{"name": "test_output", "dom_code": "<xml xmlns=\"https://developers.google.com/blockly/xml\"><block type=\"controls_whileUntil\" id=\"Eg+_}I*|KDj2r:7;lzVu\" x=\"16\" y=\"109\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"vjj7Y31uCw@dAO#:o!z=\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"coderbot_atmega_set_output\" id=\"FWQt#G1gxXgvCXg_pJSD\"><field name=\"OUTPUT\">0</field><value name=\"VALUE\"><block type=\"logic_boolean\" id=\"OX}R-$-yxOonk~1)~V@8\"><field name=\"BOOL\">TRUE</field></block></value><next><block type=\"coderbot_sleep\" id=\"hn*rWB|=?5VdK=9d#~Q,\"><value name=\"ELAPSE\"><block type=\"math_number\" id=\"X4z;@`hR!z6Wr,]?mr!8\"><field name=\"NUM\">0.1</field></block></value><next><block type=\"coderbot_atmega_set_output\" id=\"%gGkLCH-,tpv8-Cvh@m9\"><field name=\"OUTPUT\">1</field><value name=\"VALUE\"><block type=\"logic_boolean\" id=\"$WPv~h)tka4-4ac)B;d-\"><field name=\"BOOL\">TRUE</field></block></value><next><block type=\"coderbot_sleep\" id=\";V5!M5]]T8qq|j`Bdl|h\"><value name=\"ELAPSE\"><block type=\"math_number\" id=\"Z-fZi_u%ISNl3D/?Cy_Q\"><field name=\"NUM\">0.1</field></block></value><next><block type=\"coderbot_atmega_set_output\" id=\"]S_7t8;yoT6_vto%_^]#\"><field name=\"OUTPUT\">2</field><value name=\"VALUE\"><block type=\"logic_boolean\" id=\"6a*oNkOM`1fbClSoMAu)\"><field name=\"BOOL\">TRUE</field></block></value><next><block type=\"coderbot_sleep\" id=\"!ki0*0*T,b5Gr9ZweOAH\"><value name=\"ELAPSE\"><block type=\"math_number\" id=\"jcQPERvz]3Ax}+(PFIJ~\"><field name=\"NUM\">0.1</field></block></value><next><block type=\"coderbot_atmega_set_output\" id=\"9Tmmbu4g;%4U%NN}6^*~\"><field name=\"OUTPUT\">0</field><value name=\"VALUE\"><block type=\"logic_boolean\" id=\"l8J8y%;Lq(j-2c7|]-Dx\"><field name=\"BOOL\">FALSE</field></block></value><next><block type=\"coderbot_sleep\" id=\"]sK==U]48RmtmtEQeYo.\"><value name=\"ELAPSE\"><block type=\"math_number\" id=\"QLzo=Bik,6*oygOtmi(;\"><field name=\"NUM\">0.1</field></block></value><next><block type=\"coderbot_atmega_set_output\" id=\"XF@xS7zgaWl(,^hup`qP\"><field name=\"OUTPUT\">1</field><value name=\"VALUE\"><block type=\"logic_boolean\" id=\"x5axsrx_%hM(@MP1O??0\"><field name=\"BOOL\">FALSE</field></block></value><next><block type=\"coderbot_sleep\" id=\"3_fx6eK)|8mP1ubjFfZq\"><value name=\"ELAPSE\"><block type=\"math_number\" id=\"HQ4:!?6-V41HAQaJCxtr\"><field name=\"NUM\">0.1</field></block></value><next><block type=\"coderbot_atmega_set_output\" id=\"CURTVoSTK_`uN%{,/cVc\"><field name=\"OUTPUT\">2</field><value name=\"VALUE\"><block type=\"logic_boolean\" id=\"`qobZ6#VrlWZlrz:I_yn\"><field name=\"BOOL\">FALSE</field></block></value><next><block type=\"coderbot_sleep\" id=\"V[cnM=e?S(c{9U1;d$hB\"><value name=\"ELAPSE\"><block type=\"math_number\" id=\"BU7nnRfsY/UXGOT4%Cdy\"><field name=\"NUM\">0.1</field></block></value></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></statement></block></xml>", "code": "while True:\n get_prog_eng().check_end()\n get_atmega().set_output(0, True)\n get_bot().sleep(0.1)\n get_atmega().set_output(1, True)\n get_bot().sleep(0.1)\n get_atmega().set_output(2, True)\n get_bot().sleep(0.1)\n get_atmega().set_output(0, False)\n get_bot().sleep(0.1)\n get_atmega().set_output(1, False)\n get_bot().sleep(0.1)\n get_atmega().set_output(2, False)\n get_bot().sleep(0.1)\n"}
\ No newline at end of file
+{"id": "604ca7a1-f2e2-45f0-92b2-afd3c621921f", "name": "test_output", "dom_code": "<xml xmlns=\"https://developers.google.com/blockly/xml\"><block type=\"controls_whileUntil\" id=\"Eg+_}I*|KDj2r:7;lzVu\" x=\"16\" y=\"109\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"vjj7Y31uCw@dAO#:o!z=\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"coderbot_atmega_set_output\" id=\"FWQt#G1gxXgvCXg_pJSD\"><field name=\"OUTPUT\">0</field><value name=\"VALUE\"><block type=\"logic_boolean\" id=\"OX}R-$-yxOonk~1)~V@8\"><field name=\"BOOL\">TRUE</field></block></value><next><block type=\"coderbot_sleep\" id=\"hn*rWB|=?5VdK=9d#~Q,\"><value name=\"ELAPSE\"><block type=\"math_number\" id=\"X4z;@`hR!z6Wr,]?mr!8\"><field name=\"NUM\">0.1</field></block></value><next><block type=\"coderbot_atmega_set_output\" id=\"%gGkLCH-,tpv8-Cvh@m9\"><field name=\"OUTPUT\">1</field><value name=\"VALUE\"><block type=\"logic_boolean\" id=\"$WPv~h)tka4-4ac)B;d-\"><field name=\"BOOL\">TRUE</field></block></value><next><block type=\"coderbot_sleep\" id=\";V5!M5]]T8qq|j`Bdl|h\"><value name=\"ELAPSE\"><block type=\"math_number\" id=\"Z-fZi_u%ISNl3D/?Cy_Q\"><field name=\"NUM\">0.1</field></block></value><next><block type=\"coderbot_atmega_set_output\" id=\"]S_7t8;yoT6_vto%_^]#\"><field name=\"OUTPUT\">2</field><value name=\"VALUE\"><block type=\"logic_boolean\" id=\"6a*oNkOM`1fbClSoMAu)\"><field name=\"BOOL\">TRUE</field></block></value><next><block type=\"coderbot_sleep\" id=\"!ki0*0*T,b5Gr9ZweOAH\"><value name=\"ELAPSE\"><block type=\"math_number\" id=\"jcQPERvz]3Ax}+(PFIJ~\"><field name=\"NUM\">0.1</field></block></value><next><block type=\"coderbot_atmega_set_output\" id=\"9Tmmbu4g;%4U%NN}6^*~\"><field name=\"OUTPUT\">0</field><value name=\"VALUE\"><block type=\"logic_boolean\" id=\"l8J8y%;Lq(j-2c7|]-Dx\"><field name=\"BOOL\">FALSE</field></block></value><next><block type=\"coderbot_sleep\" id=\"]sK==U]48RmtmtEQeYo.\"><value name=\"ELAPSE\"><block type=\"math_number\" id=\"QLzo=Bik,6*oygOtmi(;\"><field name=\"NUM\">0.1</field></block></value><next><block type=\"coderbot_atmega_set_output\" id=\"XF@xS7zgaWl(,^hup`qP\"><field name=\"OUTPUT\">1</field><value name=\"VALUE\"><block type=\"logic_boolean\" id=\"x5axsrx_%hM(@MP1O??0\"><field name=\"BOOL\">FALSE</field></block></value><next><block type=\"coderbot_sleep\" id=\"3_fx6eK)|8mP1ubjFfZq\"><value name=\"ELAPSE\"><block type=\"math_number\" id=\"HQ4:!?6-V41HAQaJCxtr\"><field name=\"NUM\">0.1</field></block></value><next><block type=\"coderbot_atmega_set_output\" id=\"CURTVoSTK_`uN%{,/cVc\"><field name=\"OUTPUT\">2</field><value name=\"VALUE\"><block type=\"logic_boolean\" id=\"`qobZ6#VrlWZlrz:I_yn\"><field name=\"BOOL\">FALSE</field></block></value><next><block type=\"coderbot_sleep\" id=\"V[cnM=e?S(c{9U1;d$hB\"><value name=\"ELAPSE\"><block type=\"math_number\" id=\"BU7nnRfsY/UXGOT4%Cdy\"><field name=\"NUM\">0.1</field></block></value></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></statement></block></xml>", "code": "while True:\n get_prog_eng().check_end()\n get_atmega().set_output(0, True)\n get_bot().sleep(0.1)\n get_atmega().set_output(1, True)\n get_bot().sleep(0.1)\n get_atmega().set_output(2, True)\n get_bot().sleep(0.1)\n get_atmega().set_output(0, False)\n get_bot().sleep(0.1)\n get_atmega().set_output(1, False)\n get_bot().sleep(0.1)\n get_atmega().set_output(2, False)\n get_bot().sleep(0.1)\n"}
\ No newline at end of file
diff --git a/defaults/programs/program_test_sonars.json b/defaults/programs/program_test_sonars.json
index 6664424a..7c58bec3 100644
--- a/defaults/programs/program_test_sonars.json
+++ b/defaults/programs/program_test_sonars.json
@@ -1 +1 @@
-{"name": "test_sonars", "dom_code": "<xml xmlns=\"https://developers.google.com/blockly/xml\"><block type=\"controls_whileUntil\" id=\"0Mx[mSKoV~Gk1qbv5Wrn\" x=\"68\" y=\"148\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"q8(wB97}Y)d71cgy$yo#\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"text_print\" id=\"0fGi]QOF@I*b$5x^?f#A\"><value name=\"TEXT\"><block type=\"text_join\" id=\"HA#?-0mP[+$WL+So^l5J\"><mutation items=\"6\"></mutation><value name=\"ADD0\"><block type=\"text\" id=\"E%5LX*8^Gl-$lv$UIWBv\"><field name=\"TEXT\">Front: </field></block></value><value name=\"ADD1\"><block type=\"coderbot_sonar_get_distance\" id=\"9Mw8Ob~`;a.l/tw}fui`\"><field name=\"SONAR\">0</field></block></value><value name=\"ADD2\"><block type=\"text\" id=\"{xub0XYN;{o:+?BqYjz:\"><field name=\"TEXT\"> Right: </field></block></value><value name=\"ADD3\"><block type=\"coderbot_sonar_get_distance\" id=\"c~T`mQ}cq/AzVk|=_;k#\"><field name=\"SONAR\">1</field></block></value><value name=\"ADD4\"><block type=\"text\" id=\"{oo.?}O~rUC7|]Q9Wu0[\"><field name=\"TEXT\"> Left: </field></block></value><value name=\"ADD5\"><block type=\"coderbot_sonar_get_distance\" id=\"}`5RPkPB/|v%D;^Gc1WM\"><field name=\"SONAR\">2</field></block></value></block></value></block></statement></block></xml>", "code": "while True:\n get_prog_eng().check_end()\n get_cam().set_text(''.join([str(x) for x in ['Front: ', get_bot().get_sonar_distance(0), ' Right: ', get_bot().get_sonar_distance(1), ' Left: ', get_bot().get_sonar_distance(2)]]))\n"}
\ No newline at end of file
+{"id": "ddab8e33-eba7-4f02-93af-823c523d63de", "name": "test_sonars", "dom_code": "<xml xmlns=\"https://developers.google.com/blockly/xml\"><block type=\"controls_whileUntil\" id=\"0Mx[mSKoV~Gk1qbv5Wrn\" x=\"68\" y=\"148\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"q8(wB97}Y)d71cgy$yo#\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"text_print\" id=\"0fGi]QOF@I*b$5x^?f#A\"><value name=\"TEXT\"><block type=\"text_join\" id=\"HA#?-0mP[+$WL+So^l5J\"><mutation items=\"6\"></mutation><value name=\"ADD0\"><block type=\"text\" id=\"E%5LX*8^Gl-$lv$UIWBv\"><field name=\"TEXT\">Front: </field></block></value><value name=\"ADD1\"><block type=\"coderbot_sonar_get_distance\" id=\"9Mw8Ob~`;a.l/tw}fui`\"><field name=\"SONAR\">0</field></block></value><value name=\"ADD2\"><block type=\"text\" id=\"{xub0XYN;{o:+?BqYjz:\"><field name=\"TEXT\"> Right: </field></block></value><value name=\"ADD3\"><block type=\"coderbot_sonar_get_distance\" id=\"c~T`mQ}cq/AzVk|=_;k#\"><field name=\"SONAR\">1</field></block></value><value name=\"ADD4\"><block type=\"text\" id=\"{oo.?}O~rUC7|]Q9Wu0[\"><field name=\"TEXT\"> Left: </field></block></value><value name=\"ADD5\"><block type=\"coderbot_sonar_get_distance\" id=\"}`5RPkPB/|v%D;^Gc1WM\"><field name=\"SONAR\">2</field></block></value></block></value></block></statement></block></xml>", "code": "while True:\n get_prog_eng().check_end()\n get_cam().set_text(''.join([str(x) for x in ['Front: ', get_bot().get_sonar_distance(0), ' Right: ', get_bot().get_sonar_distance(1), ' Left: ', get_bot().get_sonar_distance(2)]]))\n"}
\ No newline at end of file
diff --git a/defaults/programs/program_test_sound_hear.json b/defaults/programs/program_test_sound_hear.json
index 6d9026d6..e08fe560 100644
--- a/defaults/programs/program_test_sound_hear.json
+++ b/defaults/programs/program_test_sound_hear.json
@@ -1 +1 @@
-{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><block type=\"controls_whileUntil\" x=\"-68\" y=\"108\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"text_print\"><value name=\"TEXT\"><block type=\"coderbot_audio_hear\"><value name=\"LEVEL\"><block type=\"math_number\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">1.0</field></block></value></block></value></block></statement></block></xml>", "code": "while True:\n get_prog_eng().check_end()\n get_cam().set_text(get_audio().hear(level=100, elapse=1))\n", "name": "test_sound_hear"}
\ No newline at end of file
+{"id": "458186a6-1285-4da2-b447-5db266b89c45", "dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><block type=\"controls_whileUntil\" x=\"-68\" y=\"108\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"text_print\"><value name=\"TEXT\"><block type=\"coderbot_audio_hear\"><value name=\"LEVEL\"><block type=\"math_number\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\"><field name=\"NUM\">1.0</field></block></value></block></value></block></statement></block></xml>", "code": "while True:\n get_prog_eng().check_end()\n get_cam().set_text(get_audio().hear(level=100, elapse=1))\n", "name": "test_sound_hear"}
\ No newline at end of file
diff --git a/defaults/programs/program_test_sound_rec.json b/defaults/programs/program_test_sound_rec.json
index d6740905..9efd1c1f 100644
--- a/defaults/programs/program_test_sound_rec.json
+++ b/defaults/programs/program_test_sound_rec.json
@@ -1 +1 @@
-{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><variables></variables><block type=\"coderbot_audio_record\" id=\"LAC_$g%]@y$*]*==lpr=\" x=\"9\" y=\"56\"><value name=\"FILENAME\"><block type=\"text\" id=\"E2o@Zpp|6ZDTxst,*K%+\"><field name=\"TEXT\">test01.wav</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"_Ru290cPp#|Il6+AK[34\"><field name=\"NUM\">5</field></block></value></block></xml>", "code": "get_audio().record_to_file(filename='test01.wav', elapse=5)\n", "name": "test_sound_rec"}
\ No newline at end of file
+{"id": "522b2754-65ba-4fa7-8264-e15e819c587b", "dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><variables></variables><block type=\"coderbot_audio_record\" id=\"LAC_$g%]@y$*]*==lpr=\" x=\"9\" y=\"56\"><value name=\"FILENAME\"><block type=\"text\" id=\"E2o@Zpp|6ZDTxst,*K%+\"><field name=\"TEXT\">test01.wav</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"_Ru290cPp#|Il6+AK[34\"><field name=\"NUM\">5</field></block></value></block></xml>", "code": "get_audio().record_to_file(filename='test01.wav', elapse=5)\n", "name": "test_sound_rec"}
\ No newline at end of file
From f561d460154776956df5f8b386ef5b434a24b8f8 Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Thu, 28 Dec 2023 22:34:56 +0000
Subject: [PATCH 53/60] add uuid
---
coderbot/activity.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/coderbot/activity.py b/coderbot/activity.py
index b7e8ab73..c275154b 100644
--- a/coderbot/activity.py
+++ b/coderbot/activity.py
@@ -50,7 +50,7 @@ def save(self, activity):
if activity.get("default", False) is True:
self.activities.update({'default': False})
if self.activities.search(self.query.id == activity.get("id")) == []:
- activity = self.activities.insert(activity)
+ self.activities.insert(activity)
else:
self.activities.update(activity, self.query.id == activity.get("id"))
activity = self.activities.search(self.query.id == activity.get("id"))[0]
From 5880e8794e2bf0ed9a83ddf023c2b4f157094fca Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Thu, 28 Dec 2023 22:39:05 +0000
Subject: [PATCH 54/60] add uuid
---
coderbot/api.py | 5 ++++-
1 file changed, 4 insertions(+), 1 deletion(-)
diff --git a/coderbot/api.py b/coderbot/api.py
index 9b381f6c..8569f869 100644
--- a/coderbot/api.py
+++ b/coderbot/api.py
@@ -326,7 +326,10 @@ def runProgram(id):
"""
logging.debug("program_exec")
prog = prog_engine.load(id)
- return prog.execute()
+ if prog is not None:
+ return prog.execute()
+ else:
+ return {}, 404
def stopProgram(id):
"""
From 2b1be1954497dbb2f0816936ce7e2327d0d24a8e Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Thu, 28 Dec 2023 23:53:27 +0000
Subject: [PATCH 55/60] add uuid
---
coderbot/api.py | 2 ++
1 file changed, 2 insertions(+)
diff --git a/coderbot/api.py b/coderbot/api.py
index 8569f869..a0b900d8 100644
--- a/coderbot/api.py
+++ b/coderbot/api.py
@@ -294,6 +294,8 @@ def saveProgram(id, body):
overwrite = body.get("overwrite")
name = body["name"]
existing_program = prog_engine.load(id)
+ if existing_program is None:
+ return {}, 404
logging.info("saving - id: %s - name: %s - existing: %s", id, name, str(existing_program is not None))
if existing_program is not None and existing_program.is_stock() == True:
return "defaultCannotOverwrite", 400
From ca68f8f3a9b5c1585915c408be6a03ff4c097aaf Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Sat, 30 Dec 2023 23:05:51 +0000
Subject: [PATCH 56/60] fix sync activity, program
---
coderbot/activity.py | 2 +-
coderbot/cloud/__init__.py | 55 +++++++++++++++++++-------------------
2 files changed, 28 insertions(+), 29 deletions(-)
diff --git a/coderbot/activity.py b/coderbot/activity.py
index c275154b..79c87a81 100644
--- a/coderbot/activity.py
+++ b/coderbot/activity.py
@@ -54,7 +54,7 @@ def save(self, activity):
else:
self.activities.update(activity, self.query.id == activity.get("id"))
activity = self.activities.search(self.query.id == activity.get("id"))[0]
- logging.info("updating/creating activity: %s", str(activity))
+ logging.info("updating/creating activity - id: %s, name: %s", str(activity.get("id")), str(activity.get("name")))
return activity
def delete(self, id, logical = True):
diff --git a/coderbot/cloud/__init__.py b/coderbot/cloud/__init__.py
index 7d767859..db507018 100644
--- a/coderbot/cloud/__init__.py
+++ b/coderbot/cloud/__init__.py
@@ -152,7 +152,7 @@ def sync(self):
# Create an instance of the API class
api_instance = robot_sync_api.RobotSyncApi(api_client)
- self.sync_settings(api_instance, sync_modes["settings"])
+ #self.sync_settings(api_instance, sync_modes["settings"])
self.sync_activities(api_instance, sync_modes["activities"])
self.sync_programs(api_instance, sync_modes["programs"])
except Exception as e:
@@ -223,7 +223,7 @@ def sync_settings(self, api_instance, sync_mode):
logging.info("settings.downstream")
self._sync_status["settings"] = "synced"
except cloud_api_robot_client.ApiException as e:
- logging.warn("Exception when calling settings RobotSyncApi: %s\n" % e)
+ logging.warn("Exception when calling settings RobotSyncApi: %s\n", e)
self._sync_status["registration"] = "failed"
def sync_activities(self, api_instance, sync_mode):
@@ -251,14 +251,16 @@ def sync_activities(self, api_instance, sync_mode):
# cloud activities
activities_cloud_map = {}
for a in cloud_activities:
- if a.get("status") == ACTIVITY_STATUS_ACTIVE:
+ logging.info("cloud_activities %s, %s", str(a.get("status")), a.get("id"))
+ if a.get("status") == ACTIVITY_STATUS_ACTIVE:
activities_cloud_map[a.get("id")] = a
# loop through local
for al in activities_local_user:
logging.info("activities.syncing: " + str(al.get("id")) + " name: " + str(al.get("name")))
ac = activities_cloud_map.get(al.get("id"))
- ac_al_equals = (ac is not None and ac.get("data") == al.get("data"))
+ ac_al_equals = (ac is not None and ac.get("id") == al.get("id"))
+
if ac is not None and not ac_al_equals:
al["modified"] = al.get("modified", datetime.now(tz=timezone.utc).isoformat())
local_activity_more_recent = datetime.fromisoformat(ac.get("modified")).timestamp() < datetime.fromisoformat(al.get("modified")).timestamp()
@@ -285,7 +287,7 @@ def sync_activities(self, api_instance, sync_mode):
logging.info("activities.update.downstream: " + al.get("id"))
elif ac is None and sync_mode in [SYNC_UPSTREAM, SYNC_BIDIRECTIONAL]:
body = Activity(
- id="",
+ id=al.get("id"),
org_id="",
name=al.get("name"),
description=al.get("description"),
@@ -294,13 +296,14 @@ def sync_activities(self, api_instance, sync_mode):
modified=al.get("modified", datetime.now(tz=timezone.utc).isoformat()),
status="active",
)
+ logging.info("activities.create.upstream - id %s, name: %s", al.get("id"), al.get("name"))
api_response = api_instance.create_robot_activity(body=body)
al["id"] = api_response.body["id"]
al["org_id"] = api_response.body["org_id"]
Activities.get_instance().save(al)
- logging.info("activities.create.upstream: " + al.get("name"))
+ #logging.info("activities.create.upstream: " + al.get("name"))
elif ac is None and sync_mode in [SYNC_DOWNSTREAM]:
- Activities.get_instance().delete(al.get("name"))
+ Activities.get_instance().delete(al.get("id"))
logging.info("activities.delete.downstream: " + al.get("name"))
for k, ac in activities_cloud_map.items():
@@ -319,17 +322,17 @@ def sync_activities(self, api_instance, sync_mode):
for al in activities_local_to_be_deleted:
if al.get("id") is not None:
logging.info("activities.delete.upstream: " + al.get("name"))
- api_response = api_instance.delete_robot_program(path_params={"activity_id":al.get("id")})
+ api_response = api_instance.delete_robot_activity(path_params={"activity_id":al.get("id")})
# delete locally permanently
Activities.get_instance().delete(al.get("id"), logical=False)
# manage local stock activities to be deleted locally
- for al in activities_local_stock:
- # logging.info("activities.check.stock.locally: " + al.get("name") + " id: " + str(al.get("id")))
- if al.get("id") is not None and activities_cloud_map.get(al.get("id")) is None:
- logging.info("activities.delete.stock.locally: " + al.get("name"))
- # delete locally permanently
- Activities.get_instance().delete(al.get("id"), logical=False)
+ # for al in activities_local_stock:
+ # # logging.info("activities.check.stock.locally: " + al.get("name") + " id: " + str(al.get("id")))
+ # if al.get("id") is not None and activities_cloud_map.get(al.get("id")) is None:
+ # logging.info("activities.delete.stock.locally: " + al.get("name"))
+ # # delete locally permanently
+ # Activities.get_instance().delete(al.get("id"), logical=False)
self._sync_status["activities"] = "synced"
except cloud_api_robot_client.ApiException as e:
@@ -370,11 +373,7 @@ def sync_programs(self, api_instance, sync_mode):
for pl in programs_local_user:
pc = programs_cloud_map.get(pl.get("id"))
pc_pl_equals = (pc is not None and
- pc.get("id") == pl.get("id") and
- pc.get("name") == pl.get("name") and
- pc.get("code") == pl.get("code") and
- pc.get("dom_code") == pl.get("dom_code") and
- pc.get("status") == pl.get("status"))
+ pc.get("id") == pl.get("id"))
logging.info("programs.syncing: " + str(pl.get("id")) + " name: " + pl.get("name"))
if pc is not None and not pc_pl_equals:
@@ -408,7 +407,7 @@ def sync_programs(self, api_instance, sync_mode):
elif pc is None and sync_mode in [SYNC_UPSTREAM, SYNC_BIDIRECTIONAL]:
# cloud program does not exist
body = Program(
- id="",
+ id=pl.get("id"),
org_id="",
name=pl.get("name"),
description=pl.get("description", ""),
@@ -425,7 +424,7 @@ def sync_programs(self, api_instance, sync_mode):
logging.info("programs.create.upstream: " + pl.get("name"))
elif pc is None and sync_mode in [SYNC_DOWNSTREAM]:
# cloud program does not exist, delete locally since sync_mode is downstream
- ProgramEngine.get_instance().delete(pl.get("name"))
+ ProgramEngine.get_instance().delete(pl.get("id"))
logging.info("programs.delete.downstream: " + pl.get("name"))
# manage cloud programs not present locally in "active" status
@@ -447,15 +446,15 @@ def sync_programs(self, api_instance, sync_mode):
logging.info("programs.delete.upstream: " + pl.get("name"))
api_response = api_instance.delete_robot_program(path_params={"program_id":pl.get("id")})
# delete locally permanently
- ProgramEngine.get_instance().delete(pl.get("name"), logical=False)
+ ProgramEngine.get_instance().delete(pl.get("id"), logical=False)
# manage local stock programs to be deleted locally
- for pl in programs_local_stock:
- # logging.info("programs.check.stock.locally: " + pl.get("name") + " id: " + str(pl.get("id")))
- if pl.get("id") is not None and programs_cloud_map.get(pl.get("id")) is None:
- logging.info("programs.delete.stock.locally: " + pl.get("name"))
- # delete locally permanently
- ProgramEngine.get_instance().delete(pl.get("name"), logical=False)
+ # for pl in programs_local_stock:
+ # # logging.info("programs.check.stock.locally: " + pl.get("name") + " id: " + str(pl.get("id")))
+ # if pl.get("id") is not None and programs_cloud_map.get(pl.get("id")) is None:
+ # logging.info("programs.delete.stock.locally: " + pl.get("name"))
+ # # delete locally permanently
+ # ProgramEngine.get_instance().delete(pl.get("name"), logical=False)
self._sync_status["programs"] = "synced"
except cloud_api_robot_client.ApiException as e:
logging.warn("Exception when calling programs RobotSyncApi: %s\n" % e)
From e0582ace78aecf6f978ef754ac41f05682be00ab Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Sun, 31 Dec 2023 15:00:47 +0000
Subject: [PATCH 57/60] fix daveProgram case of null body
---
coderbot/api.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/coderbot/api.py b/coderbot/api.py
index a0b900d8..176265cc 100644
--- a/coderbot/api.py
+++ b/coderbot/api.py
@@ -292,7 +292,7 @@ def saveNewProgram(body):
def saveProgram(id, body):
overwrite = body.get("overwrite")
- name = body["name"]
+ name = body.get("name", None)
existing_program = prog_engine.load(id)
if existing_program is None:
return {}, 404
From e214e5993401a9ef10404e5682f16f78e673b433 Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Sun, 31 Dec 2023 22:26:37 +0000
Subject: [PATCH 58/60] sync settings
---
coderbot/api.py | 2 +-
coderbot/cloud/{__init__.py => sync.py} | 17 ++++++++---------
coderbot/main.py | 6 +++++-
coderbot/program.py | 4 ++--
requirements.txt | 2 +-
5 files changed, 17 insertions(+), 14 deletions(-)
rename coderbot/cloud/{__init__.py => sync.py} (96%)
diff --git a/coderbot/api.py b/coderbot/api.py
index 176265cc..c150f44e 100644
--- a/coderbot/api.py
+++ b/coderbot/api.py
@@ -23,7 +23,7 @@
from musicPackages import MusicPackageManager
from program import Program, ProgramEngine
from motion import Motion
-from cloud import CloudManager
+from cloud.sync import CloudManager
from balena import Balena
from coderbot import CoderBot
diff --git a/coderbot/cloud/__init__.py b/coderbot/cloud/sync.py
similarity index 96%
rename from coderbot/cloud/__init__.py
rename to coderbot/cloud/sync.py
index db507018..93ed8779 100644
--- a/coderbot/cloud/__init__.py
+++ b/coderbot/cloud/sync.py
@@ -122,7 +122,7 @@ def registration_status(self):
def run(self):
while(True):
- sync_period = int(Config.read().get("sync_period", "60"))
+ sync_period = int(Config.read().get("cloud").get("sync_period", "60"))
self.sync()
sleep(sync_period)
@@ -152,11 +152,12 @@ def sync(self):
# Create an instance of the API class
api_instance = robot_sync_api.RobotSyncApi(api_client)
- #self.sync_settings(api_instance, sync_modes["settings"])
+ self.sync_settings(api_instance, sync_modes["settings"])
self.sync_activities(api_instance, sync_modes["activities"])
self.sync_programs(api_instance, sync_modes["programs"])
except Exception as e:
logging.warn("run.sync.api_not_available: " + str(e))
+ raise e
logging.info("run.sync.end")
self._syncing = False
@@ -193,32 +194,30 @@ def sync_settings(self, api_instance, sync_mode):
api_response = api_instance.get_robot_setting()
cloud_setting_object = api_response.body
cloud_setting = json.loads(cloud_setting_object.get('data'))
-
# sync only the "settings" and "cloud" sections, do not sync "network"
config = Config.read()
local_setting = {
- "settings": config.get("settings"),
- #"cloud": config.get("cloud")
+ "settings": config.get("settings")
}
local_most_recent = datetime.fromisoformat(cloud_setting_object.get("modified")).timestamp() < Config.modified()
cloud_kind_user = cloud_setting_object.get("kind") == ENTITY_KIND_USER
+ # logging.info(f"cloud_kind_user: {cloud_kind_user}, cloud_setting != local_setting: {cloud_setting != local_setting}, local_most_recent: {local_most_recent}, sync_mode in [SYNC_UPSTREAM, SYNC_BIDIRECTIONAL]: {sync_mode in [SYNC_UPSTREAM, SYNC_BIDIRECTIONAL]}")
# logging.info("settings.syncing: " + cloud_setting_object.get("id", "") + " name: " + cloud_setting_object.get("name", ""))
- if cloud_kind_user and cloud_setting != local_setting and local_most_recent:
+ if cloud_kind_user and cloud_setting != local_setting and local_most_recent and sync_mode in [SYNC_UPSTREAM, SYNC_BIDIRECTIONAL]:
body = Setting(
id = cloud_setting_object.get('id'),
org_id = cloud_setting_object.get('org_id'),
name = cloud_setting_object.get('name'),
description = cloud_setting_object.get('description'),
data = json.dumps(local_setting),
- kind = local_setting.get("kind", ENTITY_KIND_STOCK),
+ kind = cloud_setting_object.get("kind"),
modified = datetime.now().isoformat(),
status = cloud_setting_object.get('status'),
)
api_response = api_instance.set_robot_setting(body)
logging.info("settings.upstream")
- elif cloud_setting != local_setting: # setting, down
+ elif cloud_setting != local_setting and sync_mode in [SYNC_DOWNSTREAM, SYNC_BIDIRECTIONAL]: # setting, down
config["settings"] = cloud_setting["settings"]
- #config["cloud"] = cloud_setting["cloud"]
Config.write(config)
logging.info("settings.downstream")
self._sync_status["settings"] = "synced"
diff --git a/coderbot/main.py b/coderbot/main.py
index 9a715aa6..fb001fb4 100644
--- a/coderbot/main.py
+++ b/coderbot/main.py
@@ -19,7 +19,7 @@
from cnn.cnn_manager import CNNManager
from event import EventManager
from coderbot import CoderBot
-from cloud import CloudManager
+from cloud.sync import CloudManager
# Logging configuration
logger = logging.getLogger()
@@ -66,6 +66,10 @@ def run_server():
try:
try:
settings = Config.read().get("settings")
+ # if settings.get("id") is None:
+ # settings["id"] = str(uuid.uuid4()) # init uuid for local settings
+ # Config.write()
+
app.settings = settings
network_settings = Config.read().get("network")
diff --git a/coderbot/program.py b/coderbot/program.py
index d78e9d4d..0cf275ff 100644
--- a/coderbot/program.py
+++ b/coderbot/program.py
@@ -192,9 +192,9 @@ class Program:
def dom_code(self):
return self._dom_code
- def __init__(self, name, id=str(uuid.uuid4()), description=None, code=None, dom_code=None, kind=PROGRAM_KIND_USER, modified=None, status=None):
+ def __init__(self, name, id=None, description=None, code=None, dom_code=None, kind=PROGRAM_KIND_USER, modified=None, status=None):
self._thread = None
- self._id = id
+ self._id = id if id is not None else str(uuid.uuid4())
self._name = name
self._description = description
self._dom_code = dom_code
diff --git a/requirements.txt b/requirements.txt
index dc2210a3..fe28f3bf 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -23,7 +23,7 @@ numpy==1.24.3
Pillow==10.1.0
protobuf==4.25.1
opencv-contrib-python==4.5.5.62
-tflite-runtime==2.12.0
+tflite-runtime==2.13.0
pytesseract==0.3.10
picamera==1.13
pyzbar==0.1.9
From 93735f79af9fead604dcf3b3f59331d1a15b9182 Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Wed, 28 Feb 2024 23:13:31 +0100
Subject: [PATCH 59/60] fix detectMultiScale
---
coderbot/cv/image.py | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/coderbot/cv/image.py b/coderbot/cv/image.py
index 24dd9efb..e9c6f12e 100644
--- a/coderbot/cv/image.py
+++ b/coderbot/cv/image.py
@@ -39,8 +39,7 @@ class Image():
_aruco_dict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_ARUCO_ORIGINAL)
_aruco_parameters = cv2.aruco.DetectorParameters_create()
- #_face_cascade = cv2.CascadeClassifier('/usr/local/share/OpenCV/haarcascades/haarcascade_frontalface_default.xml')
- _face_cascade = cv2.CascadeClassifier('/usr/share/opencv/lbpcascades/lbpcascade_frontalface.xml')
+ _face_cascade = cv2.CascadeClassifier(cv2.data.haarcascades + 'haarcascade_frontalface_default.xml')
def __init__(self, array):
self._data = array
@@ -85,7 +84,8 @@ def get_transform(cls, image_size_x):
return tx
def find_faces(self):
- faces = self._face_cascade.detectMultiScale(self._data)
+ gray = cv2.cvtColor(self._data, cv2.COLOR_BGR2GRAY)
+ faces = self._face_cascade.detectMultiScale(gray)
return faces
def filter_color(self, color):
From 13e081aab3878921fd0074328e0b181ee2f4e4a1 Mon Sep 17 00:00:00 2001
From: previ <roberto.previtera@gmail.com>
Date: Thu, 28 Mar 2024 23:02:03 +0100
Subject: [PATCH 60/60] schemathesis==3.24.3
---
.github/workflows/build_backend.yml | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/.github/workflows/build_backend.yml b/.github/workflows/build_backend.yml
index 41ea5341..e78c948a 100644
--- a/.github/workflows/build_backend.yml
+++ b/.github/workflows/build_backend.yml
@@ -34,7 +34,7 @@ jobs:
mkdir -p schemathesis
python3 -m venv schemathesis
. schemathesis/bin/activate
- pip install schemathesis
+ pip install schemathesis==3.24.3
st run --endpoint 'activities' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
#st run --endpoint 'media' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
st run --endpoint 'control/speak' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json